Running deep links / universal links on an iOS device

Question

Can I access something like the

xcrun simctl openurl booted "http://my_url"

or

adb shell am start -a android.intent.action.VIEW \
    -c android.intent.category.BROWSABLE \
    -d "http://my_url" com.myApp

inside an emulator / simulator.

Is there any way to send a deep link with xcrun to a real device connected via USB?