In Messages, it's pretty hard to miss the timestamps that appear on top of more recent texts, iMessages, or files. But if you want to view the exact times for each text, you'll need to know about a hidden gesture.
Open Messages and go to a chat thread. Now, swipe to the left and hold onto the screen to reveal individual timestamps. This works for every message in the chat, and it doesn't matter if you're in an iMessage or SMS thread. Once you're done viewing the timestamps, simply let go of the screen. That's all there is to it!
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.