With iOS15 Apple has released Nearby Interaction API that allows iOS devices with U1 chip to connect and range with other non-Apple UWB-enabled devices that are interoperable with U1 chip.
Under this link: https://developer.apple.com/nearby-interaction/ you can see in the FAQ section recommended UWB chip manufacturers.
There are many companies offering Dev Kits where these chips were integrated, so you can build iOS app that can do inch-level precise ranging and obtain angle orientation to these 3rd party devices, e.g. beacons.
Just google "UWB beacons" or "UWB Dev Kit" to get some; they typically come with SDK where sample code is provided,
so it shouldn't take long to build spatially aware mobile apps.