usbmuxd
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Can the iOS device initiate a TCP connection to a port on the machine running usbmuxd?
Software running on the Linux/Mac/Windows computer can initiate a TCP session to an iOS app listening on localhost. Is it possible to make a connection from an iOS app to a process on the Linux/Mac/Windows listening on localhost?
Not as such. You can look at the iproxy tool that ships with libimobiledevice. But the architecture of it all doesn't really lend itself to establishing connections out of the phone.