Process video audio using AVAudioEngine in iOS

I want to process audio from videos using AVAudioEngine, but I'm not sure how to read the audio from videos using AVAudioEngine. I have the following code:

let videoURL = /// url pointing to a local video file.
let file = try AVAudioFile(forReading: videoURL)

It works fine on macOS but on iOS it fails with the error message:

[default]          ExtAudioFile.cpp:193   about to throw 'typ?': open audio file

[avae]             AVAEInternal.h:109   [AVAudioFile.mm:134:AVAudioFileImpl: (ExtAudioFileOpenURL((CFURLRef)fileURL, &_extAudioFile)): error 1954115647

Error Domain=com.apple.coreaudio.avfaudio Code=1954115647 "(null)" UserInfo={failed call=ExtAudioFileOpenURL((CFURLRef)fileURL, &_extAudioFile)}

Reading through the header files it seems that 'typ?' corresponds to kAudioFileUnsupportedFileTypeError, so that tells me that the file type is supported on macOS but not on iOS.

So my question is: How can I work with audio from video files in an AVAudioEngine based setup? I already know that I could extract the audio from videos using something like AVAssetExportSession, but that approach requires extra preprocessing time that I rather not spend.