And after all that hardcore engineering work is done, iMessage still has code paths leading to dubious code running in the kernel, enabling 0-click exploits to still be a thing.
None of that ran in the kernel. Everything happens within a single process up until the sandbox escape, which isn't even covered in your article. The article's sequel* goes into detail about that part, which involves subverting a more privileged process by exploiting logic errors to get it to execute code. The only involvement by the kernel is passing IPC messages back and forth.