In this tutorial, you are going to learn how to sideload your apps onto your iPhones and iPads! The following steps are for the latest iOS and Xcode versions. Incase you have an older iPhone in which iOS cannot be updated, you'll have to do some minor changes to side-load your app.
During the sideloading steps, at various times, you may see a popup that will request your password for Keychain. It's essential that you enter your password and click Always Allow. This pop up might show up more than once, usually around 3-4 times. You must click Always Allow every single time.
The reason for this is because Xcode is setting up your developer certificates and signing in the background. If at any point in this process you deny permission, you'll get an error that says Swift Sdtlib tool error and you will have to troubleshoot using these steps listed here: Swift Sdtlib tool error: Task failed with exit code 1.