https://citymapper.com/directions?endcoord=51.50343%2C-0.113...
I picked this route (between two major London stations) because there are several routes that use two tube lines. Next to the estimated time there's a faint yellow wifi-like symbol. If you click on any one of the options there's a yellow background section with the time to next three trains. The timings are based on both the timetable and the reality of a turn up and go service.