If they can’t sign in to iCloud and Messages using the same Apple ID, open your Contacts app , and make sure your contact card for the person includes both Apple IDs—the one they use to sign in to iCloud, and the one they use in Messages. Then try sharing again. (See Create and manage contacts.)
to my knowledge, neither iCloud nor AppleID is required… connection is made via phone # or email address. I have dozens of other contacts in Messages where this feature works just find and non of us are using iCloud