I may be mistaken, but I think that by the fact that you can post on this forum, you have an Apple Developer Account.
You should be able to set your plugged-in iPhone as the build target and then cmd-R to run it on your phone. It will tell you to go into settings and turn on developer mode, after which you need to restart your phone, and I think there are few more steps, but it is totally possible. As somebody who does not have a paid Apple Developer account, I can confirm that it is possible to do this.
Topic:
Developer Tools & Services
SubTopic:
Xcode
Tags: