Why am I not receiving text messages because of iMessage?

When I have my iMessage on, I'm not receiving texts from my iPhone using friends who have their iMessage OFF. But if I turn my iMessage off, then I don't receive texts from my friends that have their iMessage ON. Is there a way to fix this? Is there a way I can receive texts from everyone while my iMessage is on, regardless if their iMessage is on or off?

This is because the messages are queued until you are connected to Wi-Fi unlike normal sms. Just turn this feature off, I have it off it is a bad feature.

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