Can I recover previously deleted messages

Go to Settings/[your name]/iCloud. Is the switch for Messages turned on? If it is, there is no way to recover a deleted text message.

If it is off and you have a backup that was made before the text message was deleted you can restore that backup to the phone, however, this will replace everything on the phone with the contents of the backup; essentially it will set the phone to the state it was in at the time the backup was made.

BTW, iOS 16 adds a “trash” folder for deleted messages, so it won’t be a problem in the future. But for right now it is difficult or impossible to recover a deleted text, except to ask the recipient to text it back to you.