Is it possible to make Google Assistant to use a custom application (e.g WhatsApp) instead of SMS when I say "Tell Steve I'll see you in 30 minutes"?
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Google Assistant recognizes commands for WhatsApp, such as “OK Google, send a Whatsapp message to [contact].” It will then prompt you for a message to send. You can't set a default texting app because Google recognizes "send a text/message to [contact]" as a command to send an SMS.
With an app like IFTTT you may be able to set a custom voice command to send a message if you do not like the default one from Google. However, as of now, I have not found a custom applet for WhatsApp messaging, but if you are looking for this functionality for other apps as well, such as Telegram, there are applets on IFFTT that will help you.

LyricWulf
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