iMessage read receipts

This is from a previous thread that was never correctly answered: When a read receipt for iMessage first pops up, the read receipt has a time stamp with the exact time. However, after it becomes a new day, the read receipt’s time stamp says only 'yesterday,' and then 'Tuesday' (or whatever day). Is there any way to go back and see the exact time it was received? Sliding to the left only shows the send time...not the received time.