If you're not already aware of these, Apple provides various assistive technologies, including for iPhone and iPad.
You can potentially use Continuity to control some of the features of your devices from your Mac. Continuity allows making cellular telephone calls from a macOS system via an iPhone, for instance.
Apple Remote Desktop is an add-on, extra-cost screen-sharing client software package for macOS systems. This package is used to connect into and screen-share the desktops of Mac systems. Apple Remote Desktop and similar screen-sharing packages including the (free) built-in screen sharing client integrated within macOS do not and cannot connect into iOS devices and cannot display the screens or apps on iOS devices. The necessary network services and the necessary access for these packages are not implemented for and not available in iOS.