With iPadOS and the iOS 13, you are able to get voice notifications from Siri regarding the texts you have received while wearing your AirPods. Currently, the feature only works for Messages but Apple has assured that the said feature will work with third-party texting apps and also with the recently released iOS 13.
https://quick-customer-support.com/blog/ios-13-how-to-manage-message-announcements/
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