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Safari does use your bookmarks and your history, but at some point the history expires so some sites I go to rarely don’t autocomplete and I add bookmarks when I notice.

Also it sometimes is too slow to pick up that I don’t want to go where it autocompleted, I hit go, then immediately hit back and typed more characters in to get the actual site I wanted. I could go and edit my history, but that process is a little clunky on my phone.

That's exactly the behaviour I have when using iOS.

I see. OP replies saying their history somehow expired, and the page wasn't bookmarked to begin with. So I stand corrected. Thank you

It does - some people always browse in Private Mode or have History off