You have already located the best source of information published by Apple. The Apple Platform Security Guide provides in-depth information about default security protocols and policies as applied by the supported Operating Systems and native Apps. This Guide is typically updated on an roughly annual basis - last updated May 2022.
TLS security - Apple Support
https://help.apple.com/pdf/security/apple-platform-security-guide-b.pdf
While I’m unaware of a specific Apple-published document that details when specific security protocols were introduced by platform, a little research confirms that TLS 1.3 support was introduced with release of iOS 12.2.