You recall correctly, but that did end in 2015, when Apple ended the requirement that developers sign up for their paid developer program to be able to develop and test iPhone apps. I've written about that elsewhere: https://appfair.org/blog/gpl-and-the-app-stores#fn:3

The adb workaround for Android is essentially on par with being able to use Xcode's tooling to install apps on an iPhone: technically possible without paying a fee, but enough friction that no one would seriously consider as an alternative solution for publishing their apps to a general audience.