I heard that it is possible to install ROS 2 on modern macOS systems via Anaconda, likely using RoboStack, thanks to the availability of arm64 builds. However, I haven’t heard of any ready-made, drop-in solutions for running ROS 2 on iOS devices.
As mentioned above, if you are trying to create a teleop remote, you might have a better development experience with PC gaming handhelds, e.g. the Steam Deck runs SteamOS (based on Arch Linux), where you can deploy containers with your project.