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Xcode comes with an iOS simulator so you don't need hardware, but it would be a bad idea not to test on an actual device.

How do I run xcode on Linux or Windows?

In qemu.

Is this legally possible without software piracy? Can you link me to instructions? Does apple have documentation anywhere?

IANAL.

I don't know if Apple has documentation somewhere.

Xcode only runs on Apple hardware. (a)

a. Well, if Apple got their way when it came to Hackintoshes.

You got me there.