My 2021 has done the same thing, voice to text for messaging and for the navigation search as well.
ETA:
After a short search I have found the answer. Greed on the part of Toyota. Seems when your free 3 year dynamic and connectivity package trials are up the voice to text stops working. Some said use Apple play or Android and forget Toyota. Stuff like this will effect my future buying choices of vehicles.
Info system stopped dictating replies to text | Toyota RAV4 Forums