[General] Is there a way to run a binary (built for iOS architecture) that was not built with xcode directly on iOS device / simulator?

I'm looking for a way to simplify distribution workflow for my game engine (written in Rust). I can build an iOS binary (a Mach-O 64-bit executable arm64) with aarch64-apple-ios target, but I don't know if there's anyway I can put this binary into xcode or anywhere and expect it to run on a device / simulator? I wonder if there's anything as convenient as creating a macOS .app bundle from an executable.

Before this I had a little success (got a simulator with an app running basic opengl) by building as a .a staticlib and put that in xcode, but I wonder if it's the only way because in Rust changing between build as lib or binary is non trivial ergonomically on the user level (other targets all build as binary).
[General] Is there a way to run a binary (built for iOS architecture) that was not built with xcode directly on iOS device / simulator?
 
 
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