Have my iPhone been Hacked?

By hack, if you mean a stranger is remotely controlling or monitoring your device, then...

Keep the iPhone updated to the latest iOS always and never Jailbreak. That's it.

iOS / iPadOS devices cannot be hacked or infected with Virus / Malware / Spyware if it is updated to the latest iOS/iPadOS unless you have intentionally downloaded spurious software or unauthorized apps directly from the internet and installed them on your device or/and have Jailbroken. 

It (Hacking) also depends on how careful are you in sharing sensitive and valuable information pertaining to your iPhone such as Passcode, Password, etc with your friends and family members.

Be careful when sharing the device's sensitive and valuable information with friends and family members.

Thumb Rules:

1. Enable  Guided Access before handing over an iPhone to kids
2. Don't share Apple IDs
3. Don't Jailbreak
4. Don't share sensitive information pertaining to your device and payment methods
5. Beware of Phishing
6. Do not share your location with a stranger --> Find friends and share your location with Find My
7. If you see this --> What to do if you get an alert that an AirTag, Find My network accessory or set of AirPods is with you