This is a known issue from Apple.
The issue has been discussed under multiple threads -
To overcome this, if you want to open a URL while testing, you can follow the below steps:
1. Launch the Safari browser
2. Navigate to the address bar
3. Enter the URL and press enter.
You can refer to the below code(in Java) for the same:
driver.activateApp("com.apple.mobilesafari");
Thread.sleep(2000);
driver.findElementByName("TabBarItemTitle").click();
Thread.sleep(3000);
driver.findElementByName("URL").sendKeys("<url>");
Thread.sleep(3000);
driver.findElementByAccessibilityId("Go").click();
Thread.sleep(5000);