Best way to test mobile AR apps

Hello.

I am a very new developer but I'm trying to make an AR app for iPhone and iPad. I was able to deploy a very simple app with Unity that basically just opens the camera and displays a 3-D model in AR - however the cord was attached to the phone. I need to be able to walk around in order to really experience the AR. I've been trying to deploy an 'ad hoc' app on iOS for the past few hours to no avail. I noticed there are several options for deployment so I'm wondering what is the best if I'm just looking to develop and I want to see the changes that I make on my iPhone and iPad. I don't need my app to be available on the App Store.

Another question I have is about compatibility with the latest Xcode I have which is 12.5 and my iPhone which is running IOS 14.4.2. I would think since they are both new it would be fine but I watched a YouTube video and it said that the decimal points after the first number should be the same.

Thank you for your help.