Here is another article from 2016, which shows that Apple patched iMessage to prevent attackers who don't have access to Apple's servers from reading the messages but still kept the ability to read the messages themselves. https://blog.cryptographyengineering.com/category/imessage/
Apple was aware that people knew it could decrypt iMessage messages this entire time, but Apple made no changes that would fix that. That should give you some idea of whether Apple intends to ever fix that.
E2E encryption simply means that messages are only decrypted at the endpoints. That certainly isn't true of iMessage in China, and it might not even be true for some users in the US — we have no way of knowing because the protocol makes no guarantee against it.
"If you have iCloud Backup turned on, your backup includes a copy of the key protecting your Messages. This ensures you can recover your Messages if you lose access to iCloud Keychain and your trusted devices."
What we know is that they can and do decrypt iMessages from iCloud backups in response to law enforcement requests[1]. This proves that they hold the keys, if their own support pages weren't enough evidence for you.
[1] https://www.reuters.com/article/us-apple-fbi-icloud-exclusiv...