I went to Settings > Privacy & Security > Camera and iMessage is not listed in there, nor is there an option to add it. When creating a new Memoji, I get the same "Face tracking failed. Tap to retry." message.
I've already reached out to Apple Support, that was my first go-to, before submitting to Feedback and before posting here.
JustinChacon
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Decided to reset my phone. It works now. Yay!