The Remote iOS Debugger allows for debugging iOS applications directly from IDA.
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IDA's iOS debugger acts as a client to Apple's debugserver. So, you must ensure that the debugserver is already installed on your device for the debugger to work.
See: https://www.hex-rays.com/products/ida/support/tutorials/ios_debugger_tutorial.pdf
for a detailed tutorial on getting started with iOS.
See also Remote GDB Debugger Debugger for macOS How to launch remote debugging