Until now I was under the impression this was not possible and in order to download the APP to the physical iOS device one had to go through Xcode or Apple Configurator 2.
Surprise: my dear friend @trevix is able to do it, we just don't know how

I have tried to reproduce his setup (Catalina + LC 9.6.6 RC2 + Xcode 12.4 ) with mine (Big Sur + LC 9.6.6 RC2 + Xcode 12.4 + Xcode 13.2.1) but for some reason in my case LC doesn't see my iPhone.
Any suggestions? Are other readers able to do as @trevix?
I guess we all would agree that having this option would be a great productivity gain.
Thanks