If you are using a MacOS, you can build for iOS directly on the device. Unity will export an XCode project for you and will try to auto-launch it to build the app on the device when you choose Build & Run.
To set up the iOS build, you should take care of the Metal graphic API settings:
See the official manual page for detailed iOS player settings at https://docs.unity3d.com/Manual/class-PlayerSettingsiOS.html.