MQTT Last Received Message Timestamp?

Is there a way to check when the last MQTT message was received, regardless of whether the state value changed for a device?

I had assumed last_updated would change whenever a new message arrived (eg. the device’s state was updated, even if there were no changes), and last_changed would change when the state value changed. However, the History integration page shows that last_updated is simply for any changed value for the device.