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Try this one:
$field$fields = \Drupal::service('entity_field.manager')->getFieldDefinitions('contact_message', 'personal');
You can change personal to your contact form bundle.
personal
$field = \Drupal::service('entity_field.manager')->getFieldDefinitions('contact_message', 'personal');
$fields = \Drupal::service('entity_field.manager')->getFieldDefinitions('contact_message', 'personal');
