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I was having this issue as well on my Pixel XL where a few contacts were stuck only showing the number in SMS apps. I tried fixing the phone number "+" prefix stuff, removing contact entirely, rebooting etc... nothing worked. Then I had a thought, duplicates.
Went to the "duplicates" screen in google contacts in a regular chrome browser on my desktop and saw the contact that only showed the number had a duplicate with only a number associated with it. Merged the contact and shortly later(less than a minute) it showed up proper on my phone. I'm using the "Messenger" app for SMS(not facebook messenger) though that probably doesn't matter.
I am unable to reproduce the problem by adding the number only contact back to my contacts so hopefully what I think fixed it actually did... at least it's a painless thing to try. Best of luck.

