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<<This works for me on iOS 13.3 beta 3>>
There used to be a bug where it would return after deleting, BUT it has been fixed now

GO TO MESSAGES > START A NEW MESSAGE

YOU CAN EITHER :::
  1. —type the phone number you wish to delete
  2. —type “+1” to display all numbers
ANY NUMBER THAT ARE NOT A PART OF YOUR CONTACTS WILL HAVE AN “I” BUTTON, RATHER THAN AN ARROW “>"

TAP “I” > THEN TAP “Remove From Recents"

YOU WILL LIKELY NEED TO DO THIS WITH EVERY iOS DEVICE YOU HAVE
 
This is working in iOS 13.3 beta 3, can confirm with steps ascribed by @melancholy.

They are the exact steps I have always used on all versions of iOS for as long as I can remember - tap the "i" and "Remove From Recents".
 
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<<This works for me on iOS 13.3 beta 3>>
There used to be a bug where it would return after deleting, BUT it has been fixed now

GO TO MESSAGES > START A NEW MESSAGE

YOU CAN EITHER :::
  1. —type the phone number you wish to delete
  2. —type “+1” to display all numbers
ANY NUMBER THAT ARE NOT A PART OF YOUR CONTACTS WILL HAVE AN “I” BUTTON, RATHER THAN AN ARROW “>"

TAP “I” > THEN TAP “Remove From Recents"

YOU WILL LIKELY NEED TO DO THIS WITH EVERY iOS DEVICE YOU HAVE
Does this work for a group/mass SMS? Those are the ones that don’t have the “remove from recents” option for me.

Edit: Ah ha! I think I just figured out the problem. Last week, when I typed the "@" symbol, I was presented with lots of numbers that were in a group/mass SMS and none of them had the "Remove from recents" option - the option simply wasn't there. I tried this again just seconds ago and those 'non-removable' numbers are all gone now. I have made no changes to any of my devices between those two attempts. This leads me to believe that this issue is in iCloud (server-side) somewhere rather than on iOS, at least for me. Perhaps this bug was never present in iOS and it was always in iCloud?

If this was recently fixed in iCloud, then it would stand to reason that the beta testers are seeing new behavior now. iCloud is a service, run from a server that runs software. If there is a bug in iCloud it may look like a bug in iOS when the bug isn't in iOS at all.
 
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Nope. None of that worked for the group message removal.
Well, there goes my theory. I'm running iOS 13.2.3, I wonder why it works here but doesn't work for you.

There are so many variables it's no wonder we have bugs.
 
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