Computer, most definitely you can avoid 2FA.
iOS I am 99% certain you can.
My iPhone tops out at iOS 16, but I did recently update my computer and my wife's computer to 15.6.1 and the menu options did lead you to update to 2FA unless you happened to notice the small button that I think said "other options". I also helped my wife when she last had to update iOS on her iPhone 16e so I probably walked her past the 2FA pitfall when updating. Apple just does their best to make it not-obvious. You have to read things carefully. I know each time I sign into the forum here I have to click once to enter my Apple ID, a second time to enter my password. It then asks me if I want to upgrade to 2FA or "other options". When I click "other options", of course one of the "other options" is also to upgrade anyway and the other is don't upgrade. Not sure why Apple doesn't just ask, "Are you really sure you don't want to?" Makes signing into ASC a real chore and the 4 clicks are not something to be done before my morning coffee!
I don't use 2FA because one critical scenario is using my iPhone as an iPod Touch on trips to other countries. I may not have phone service, wi-fi is sporadic (but important to me when I do get it), and I have no other Apple devices with me. Should I need to get a code, having Apple call my landline or send a code to my computer at home does me no good, nor can I easily contact others who might get a code for me. I don't use any of the services requiring 2FA. I have no app or media stores purchases. What I use my account for is basic sign-in for OS updates and to post on this forum.