In Enketo the guidance hints show up on print outs. You can test with this form and uploading it to https://opendatakit.org/xlsform (Preview in Enketo and then click Print button).
Does that already address your requirements @LaraVR? If not, we'd be happy to (find some small funding to) add a special training view to Enketo that displays the hints on screen (is collapsible required in that case?). Would that meet your requirements or do need these hints to be accessible during data collection as well?
Depending on how it is implemented, it may be up to the Form/Data servers (Aggregate, Central, Ona, KoBoToolbox) to make this feature available to users.