A-Frame's immersive-ar functionality will work on some Android devices I've tested with, but I haven't had success with iOS.
It is possible to use an A-Frame scene for markerless AR on iOS using a commercial external library. Example: this demo from Zapworks using their A-Frame SDK. https://zappar-xr.github.io/aframe-example-instant-tracking-3d-model/
The tracking seems to be no where near as good as A-Frame's hit test demo (https://github.com/stspanho/aframe-hit-test), but it does seem to work on virtually any device and browser I've tried, and it is good enough for the intended purpose.
I would be more than happy to fallback to lower quality AR mode in order to have AR at all in devices that don't support immersive-ar in browser. I have not been able to find an A-Frame compatible solution for using only free/open source components for doing this, only commercial products like Zapworks and 8th Wall.
Is there a free / open source plugin for A-Frame that allows a scene to be rendered with markerless AR across a very broad range of devices, similar to Zapworks?