Can we connect ios devices with just an apple account?

Can we connect ios devices with just an apple account?
Or do we need a $100 developer account as a mandate. please clarify.

And what are the pros and cons in both.
Can long-time users help out in this?

https://docs.experitest.com/display/TC/AS+-+iOS+Sign+Configuration#AS-iOSSignConfiguration-RegisterAppleID

You can register to appium studio an apple id which is not associated with a developer account (standard free version)

This type of account has many limitations and not recommended for production environments.

When I used it did not work reliably