How to keep iPhone unlocked when at home

I know this has been asked before, but there is no answer and no solution yet. I don’t want to leave my display always on when I’m at home. I want my phone to sleep, but allow lock screen to show the content of messages without touching my phone. I know my old Samsung will always stay unlocked when I’m on my home Wi-Fi when I had it set to.

and Apple should put a feature in to unlock iPhones with voice recognition