(source: https://ubuntuforums.org/showthread.php?t=2382108, solution provided by clapac)

1. Create a new udev rule file:

cd /etc/udev/rules.d/
sudo vim 100-iphone-usbmuxd.rules

( * the file name is formed by PRIORITY-whatever.rules, you can use 99-mynewrules.rules, for example)

2. Insert the following lines into the created rules file:

ENV{DEVTYPE}==”usb_device”, ACTION==”add”, SUBSYSTEM==”usb”, ATTR{idVendor}==”05ac”, ATTR{idProduct}==”129[0-9abcef]”, RUN+=”/usr/sbin/usbmuxd -u -U usbmux”

ENV{DEVTYPE}==”usb_device”, ACTION==”add”, SUBSYSTEM==”usb”, ATTR{idVendor}==”05ac”, ATTR{idProduct}==”12a[0-9ab]”, […]