Erase and restore same phone from existing iCloud backup
I do not want to “backup, reset and restore”, I just want to erase and restore from existing backup,
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Choose the option to preserve your carrier settings if you will be using the same carrier
When the phone restarts, and you are setting up the phone again, bypass the option to use Quick Start and then select the option to restore from a backup.
Restore your iPhone, iPad, or iPod touch from a backup - Apple Support