Monitor iPad from iPhone
How do I monitor the usage of my iPad through my iPhone?. Both are connected through the same iCloud
iPhone XR, iOS 13
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ScreenTime and Restrictions is what you are most likely looking for:
Use Screen Time on your iPhone, iPad, or iPod touch
Or, if wanting to sync your iPhone and iPad through iCloud:
Use Continuity to connect your Mac, iPhone, iPad, iPod touch, and Apple Watch