There’s the tiny “back button” in iOS that takes you back to an app which triggered an app context switch, but it’s barely noticeable and barely reachable on most current iPhones. I swipe between apps even when I do notice that. But I’m not sure how widely it’s even known you can swipe between apps.
(For anyone reading who doesn’t know, if you have an iPhone without a home button, you can swipe left/right on the space right at the bottom of your screen, where you normally would swipe up, and it’s like the cmd/alt+tab default. You can also do this on the URL bar in Safari to switch tabs, if you stick with the default bottom URL bar.)