With the latest update to Google Voice, Google has removed the Smart Reply feature from the app. This feature is no longer supported on your Samsung or any other Android phone. Also, this feature isn't available on iOS either. Google added the Smart Reply feature to Google Voice last February, and it appeared at the bottom of the messages.
The Google Voice Smart Reply feature would read the last messages that you received and generate up to three contextual replies. These contextual messages appeared on a pill above the Type A Message field, which when tapped would immediately send the message.
According to the release notes for Google Voice v2023.01.09 on both the Play Store and the App Store, “Smart reply is no longer supported,” confirming the removal of this feature, and this appears to be a server-side change. You will still see Smart Reply suggestions popping up on the notifications, which is Android's capability. It is a nice feature, as most of the time (at least for me) it suggested correct contextual messages, and it was pretty easy to reply to certain messages by simply tapping the suggestion pills.
Chances are, Google is trying to apply Smart Reply as a system-level feature rather than making it available on a per-app basis. Smart Replies are still available on Google Messages, Gmail, and even Google Docs comments. With Android 13 around and running on 5.2% of Android devices across the globe, Google Voice was the first app to feature Android 13's image picker.