I'm not against explaining Hijacking techniques for educational purpose. But please, keep in mind that gaining access to device that you do not own without it's owner permission is strictly illegal
That being said, gaining a remote access to an up to date IOS device (without any physical access to it) is a hard task, even for an infosec guy. It's not something you can achieve by watching some Youtube videos explaining how to use Kali tools.
(Beside this, asking tips on accessing apple device 100% remotely on a public forum is bad.)
But since you're supposed to do this for shaping your information security knowledge, i will assume you own an iOS device and have a physical access to it.
The procedure include 4 steps, you will need to perform your own research, from my point of view it's the best way to learn.
So here we go.
1. Fetching the PIN.
Black boxes and the goliath tool might help.
2. Maintaining the access (Remotly).
You want to access the device from anywhere. Installing a VNC server on your iOS device will be the easiest way, Netcat should be ok as well.
3. Remain Stealthy
Here comes the hard part: not getting caught nor raising alert. Stealthy pushing & installing a handcrafted app that hide your presence would be my way of doing it.
4. Being contagious
Very hard but possible: Stealthy delete the iCloud backup and replace them with the corrupted version you just crafted with the 3 steps above. It should give you access to new iOS devices, if the OS is installed from the corrupted backup (your handcrafted app have a big role in this point).