According to the docs: yes. https://developer.apple.com/library/prerelease/content/relea...
>Safari on OS X supports WebDriver, which lets you automate web-content testing. It provides a set of interfaces to manipulate DOM elements and control the browser’s behavior. You can enable Remote Automation in the Develop menu and then launch the server using /usr/bin/safaridriver. For information about library integrations as they become available, see the information about Selenium WebDriver.
Notably, the "on OS X" bit. (Shouldn't that be on macOS? I thought "OS X" was done for!) Equally, you obviously can't launch the server using /usr/bin/safaridriver on iOS.
> Safari on _OS X_ supports WebDriver, which lets you automate web-content testing.
I don't see any mention of iOS in relation to WebDriver.