Can the iPhone auto-connect to VPN?

My VPN will not keep its connection if the phone sleeps then wakes. I see online references to an 'auto-reconnect' feature but I don't see it in any VPN settings. Was this removed? It seems like a no-brainer to have the VPN reconnect if you wake and are on the same Wifi connection. I notice my Telco has a VPN function which auto-connects when the phone is used - how can I replicate that using my own VPN?

I saw something else about having to manually configure a VPN profile with a text editor and place it on the phone with AirDrop. Is that really the best way to do it? I am not trying to use a VPN service, I'm trying to use my VPN.