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How To: Disable the 'Unlock iPhone to Use Accessories' Notification in iOS 11.4.1 & Higher

If you're on iOS 11.4.1 or iOS 12 and go more than an hour without unlocking your iPhone, an "Unlock iPhone to Use Accessories" message will appear whenever you connect your iPhone to a computer or other device that tries to use the Lightning cable's data lines. This is to protect you, but it can be annoying if you have no reason to believe that law enforcement or criminals will have access to your iPhone.