And how would that work on iOS? Require every user to jailbreak their phone?

The whole reason this discussion comes up time after time is that it's not possible to side load apps for a regular user.

Yes. Every iOS user should demand they have control of their phone but I don't think that is required is it? If you literally can't install any application except from the app store then things are even worse than I'd heard.

edit: This is apparently true. I can't believe anyone puts up with that. Welcome to the Apple 1984 commercial in real life.

It is required. The only other way is enterprise certificates, TestFlight, signing the app yourself which is only valid for xx days.