Stylus for iPhone

Also use a stylus for my iPhone here. The rubber tip is soft rubber so as not to damage the screen. They are available at 'stylus shops', just google in your country. They're not pricey either, thought 6 x stylus for $15.00.

Use a mouse instead

Settings > Accessibility > Touch > Assistive Touch > Devices > [Connect any Bluetooth Mouse]

Operate the screen using the mouse. Please see the GIF below

Search for “iphone stylus” on amazon. You’ll find hundreds of them, if not more. I’m sure you can find something there that would suit your needs.

Amazon sells a stylus with a rubber grip that requires very little pressure to hold it, for under $20. It also has a covered plastic end that may work with some Android devices. They're sold in a set of 3 or 4.