View iMessage Read Receipt Timestamp

Is it possible to view the timestamp of an iMessage read receipt after 24 hours?

Example, I send a message on Tuesday at noon, the message is read on Tuesday. On Wednesday I open the message thread and see that the message was "Read Yesterday". Holding and pulling the message to the left reveals the exact time it was sent, but not read. Is there any way to retrieve the specific time the message was read on a previous date?