Google now will do what you are after. Just tell it to read incoming text message, and it will do so, then ask if you want to reply. I prefer it to Siri personally. There are also some apps, such as "Driving Mode" that tame your phone down functionally and make for a nice hands free experience when you are driving. Lots of options. S-Voice is not as terrible in my opinion as many seem to think. You need to change the default text to speech engine though under input settings, and get Samsungs high def voice engines, which for some reason don't come pre-loaded on the phone. Again, you have more choices with voice engine in Android, accent etc... Once the voice is set up with a more natural sounding voice I did not have any probems with S-Voice, I just prefer google now.