Can I make the Return key of my iPad’s hardware keyboard behave like the on-screen keyboard?

In the iPadOS Messages app, tapping the on-screen keyboard’s Return makes a new line. On the hardware Magic Keyboard, Return acts like Enter and sends the message.

So, if you want new lines or paragraphs in your Message, you must bring up the on-board keyboard and use that in addition to the attached hardware keyboard, thus losing on-screen real estate.

(Note that the hardware keyboard’s Return creates a new paragraph when typing this post in Safari, for example)

I can see nothing in iPadOS Settings >> Keyboards or Settings >> Hardware keyboard to alter this behaviour.