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Sadly Messages for iOS doesn't support screen sharing or remote control, it's Mac-only feature.
However ... if there is a Mac at the remote end in addition to the iOS device ... you can plug the iOS device into the Mac and make the iOS screen available to the Mac for movie recording ... then share the Mac screen with Messages and the remote Mac user can at least see the iOS screen. More than a couple of steps, and requires a Mac at both ends to make it work 
And yeah, I think Skype would be easier to use than Zoom for this on an the iPad.
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