You can freely upload apps from Xcode to iDevices if you own a Mac, and have an Apple developer account (not paid but you still need one), and compile the code

You can freely upload apps from Xcode to iDevices if you own a Mac, and have an Apple developer account (not paid but you still need one), and compile the code yourself, and most crucially the code signing on apps deployed this way expires after a week. This is in no way a serious deployment method.