How to restore just the messages from iCloud without resetting everything on the iPhone?
How to restore just iMessages from iCloud?
iPhone XR, iOS 14
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If you are using (syncing) Messages with iCloud and the messages have been deleted, there is no way to recover them. If you are including messages in the iCloud backup, and you want to recover them, you have to restore the backup that includes the messages.
You cannot select messages only. It is all or nothing when you restore a backup. When you restore a backup, you overwrite the current contents in the device.
Restore or set up your device from an iCloud backup - Apple Support