The list of the most common debuggers in this case is pretty much the same as for macOS. The main difference here will be in the setup, as iOS is used to power mobile devices, and it is generally more convenient to perform debugging on the PC:
- IDA: Recent versions of IDA have iOS debugging capabilities operating as a client for Apple's debugserver. In order to use IDA this way, generally, a separate ios_deploy tool should be obtained from its official website.
- radare2: Unsurprisingly, this powerful toolset can be used for both the static and dynamic analysis of iOS samples. For debugging, r2lldb plugin can be used.
- GDB/LLDB: Just as for macOS, both GDB and LLDB can be used to debug binaries in iOS. In this case, it is possible to install the debugger on the device itself and use it via SSH or do it remotely, again via Apple's debugserver.