There are many websites that incorrectly claim that you can do this by swiping left and holding within the Messages app, but this actually shows the times that the messages were received, not sent.
I'm talking about a situation in which the sender or recipient doesn't have reception, the recipient's phone is off, etc. The Android Messages app shows both sending and receipt time, which I find very handy.
Is there a way to see on an iPhone what time a message that I received was sent?