You shouldn't be looking at your phone while driving — it's dangerous and often illegal.
But you can reclaim that lost time by having your phone read aloud to you.
An almost entirely unknown feature on the iPhone can read any screen aloud — emails, text messages, web pages, app screens, and even Kindle books. You need to turn the feature on in the Settings app; tap "General," "Accessibility," then "Speech," and finally turn on "Speak Screen."
Now, to get your phone to read anything aloud, swipe down with two fingers from the top of any screen.