I want to restore my contacts to my new iPhone
Can I upload my contacts
iPhone XR, iOS 13
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If you had iCloud Contacts (Settings > [username] > iCloud > Contacts) turned on in your old phone, turn that on in the new one and the the contacts will sync to it.
Or to migrate all of your data, see: Transfer data from your previous iOS device to your new iPhone, iPad, or iPod touch - Apple Support