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The way you can go back from text to imessage is go open your conversation with that person, scroll all the way up in the conversation, click facetime and hangup (you do not have to facetime with the person its like a sec and hangup before they get an invite) this way your iphone tries to facetime and understands that the other user is an iphone user and changes from text message to imessage.
I hope this works for you