Install to iOS/Android devices without Xcode/Studio

I’m trying to find out if it is still possible to deploy our iOS and Android builds to our test devices without having to open Xcode or Android studio. With Cordova our test runner machine would deploy the app to all the connected phones as soon as the git repo was updated. As far as I can see with Capacitor you script as far as ionic capacitor run iOS and then you need a human to select each phone and deploy it there.
I understand it might be out of the field for Capacitor and therefore the responsibility of xcodebuild but so far all I have got that to do is printout a lot of debug code and they announce install succeeded with no effect on the phone.

xcodebuild install -workspace ios/App/App.xcworkspace -scheme App -destination 'platform=iOS,id=7654abcd…xyz