The encapsulation and os restrictions of the 3gs turned me off iPhones, has anything changed in the last 9 years?

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I have been an avid android user for the last 9 years. I love being able to sideload apps, download torrents, connect flash storage/sd cards. These are all things that I couldn’t (easily) do when I last had an iPhone.
My question is, has apple loosened the restrictions on the os that I remember from the 3gs?
Please bare in mind that I have not used an iPhone in a while, so I am unaware of its features.
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