Digital Twin (DT) has revolutionized the contextualized digital environment. This advancement enables real-time monitoring and simulation of events, leading to more effective decision-making. In smart transportation, DT plays a crucial role in enhancing various aspects of road decision-making, including optimizing routing decisions for Emergency Message (EM) forwarding in Vehicular Ad hoc Networks (VANETs). In this study, DT has integrated with cutting-edge technologies such as Software-Defined-Network (SDN) and geographically distributed computing (fog computing) to elevate the position-based routing behavior in two directions: selecting the optimal next-hop and taking control of periodic messages (beacon transmission). The nature of routing decisions can be complex due to constant movement and frequent position changes of vehicles in the VANET system. Merely selecting the next-hop vehicle without considering its stability and predictability can result in suboptimal routing choices. To this end, SDN based on Reliable Emergency Message Routing Schema (SDN-REMR) is introduced. This schema utilizes DT and aims to leverage the behaviors of moving vehicles to enhance the delivery of EM by providing a reliable routing mechanism. To eliminate unstable neighbors from the list of potential next-hops, SDN-REMR forecasts the relative positions of surrounding vehicles using Euclidean distance and position information. Moreover, SDN-REMR uses the movement information collected from vehicles (such as position, speed, and power consumption) to reduce the possibility of a link disruption and select the best next-hop for reliable communication. SDN-REMR enables the Store-Carry-Forward (SCF) approach to ensure packets are successfully forwarded to the destination, even in challenging network conditions. This control strategy aims to strike a balance between maintaining reliable communication and minimizing congestion in the network. The experimental results prove that there are 42.6%, 76.22%, 76.22%, and 22.2% enhancement in terms of network throughput, total delivered packets, number of dropped packets, and routing overhead.