Is there any way to use the front facing camera feed in ARKit for iPhones without a true depth sensor?
ARKit Front Facing camera for devices without truedepth camera.
Yes, the ARFaceTrackingConfiguration, which would enable AR experiences on the front-facing camera, is now supported (as of iOS 14/iPadOS 14) on any device that includes both a front-facing camera and an A12 Bionic chip or later, regardless of whether that front-facing camera is a TrueDepth camera. This is indicated on the ARKit Developer page, under the Expanded Face Tracking Support section.