1. Wait 2.5 seconds to allow your text message tone to complete
2. Read sender and message body
3. Wait 1 second
4. Ask if you would like to reply
5. If "yes", it will ask you what you want to reply
6. Send message recorded by voice
I've uploaded the profile which includes the Task required for this to function.
You will need to edit the Profile "State" section to select the Bluetooth name in your vehicle. To do this, tap on the Profile and select the "State" that says "Connected to _____". Once in here, delete the one I've got selected and select the Bluetooth you want to activate this part of the Profile.
Hopefully this is useful to someone. Let me know if you have questions.