I would never have gotten that idea - that the documentation on MapKit - MKMapView - is so misleading...
Archived documentations will never be updated, even if they contained inappropriate description.
But the latest documents will give you some hints:
MKMarkerAnnotationView - https://developer.apple.com/documentation/mapkit/mkmarkerannotationview
...
Setting the Visibility var titleVisibility: MKFeatureVisibility
The visibility of the title text rendered beneath the marker balloon.
...
You can try something like this:
let marker = MKMarkerAnnotationView(annotation: annotation, reuseIdentifier: nil)
marker.displayPriority = .required
marker.titleVisibility = .visible //-
_annotationView = marker
Topic:
Programming Languages
SubTopic:
Swift
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