In Messages, it's pretty hard to miss the timestamps that appear on top of recent texts, iMessages, or files. exact times for each text,
Open Messages and go to a chat thread. Now, swipe to the left and hold on the screen to reveal individual timestamps. This works for every message in the chat, and it does not matter if you're in on iMessage or SMS thread. Once you're done watching the timestamps, just let go of the screen.
Such a simple feature, but there's no way to know about it unless you just stumble across it. Apple's pretty bad about that – for instance, did you know they now let you change your iMessage profile picture and display name? Check it out below.