IOS remote control

I am trying to build an application that interacts with iphone screen to perform operations like touch/tap/swipe (Not inside an app but whole screen). The closest tool to do it is FB IDB (Ios Development Bridge). But IDB doesn't support UI interactions with physical device, quoting that apple doesn't allow it. Is it possible to do it? If not, is there any official document that quotes apple doesn't allow UI interactions on physical devices, programmatically ?

IOS remote control
 
 
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