How to control my iPhone from my iPad

Only if you can see it. However, you may be able to backup your phone by connecting it to your computer.

https://support.apple.com/en-us/HT203977

Once you restore your back up, you'll have all of those messages. from the date of the backup going backward.

iOS/iPadOS devices cannot be remotely configured or controlled.

If your screen is broken and you are unable to interact with the device, if not already enabled in Settings, the opportunity to enable iCloud or device backup have been lost.