Here is how to get there:
At the top of this same page, click on "Develop"
Click on "Documentation"
Click on "Technologies"
In the dropdown, select a version to highlight changes
At this point, you should be able to scroll down the list, expanding each framework to see the changes (modifications, additions and deprecations).
Alternatively, you can directly navigate to a framework documentation page, and select one of the available options from the API changes dropdown. Example for UIKit:
https://developer.apple.com/documentation/uikit?changes=latest_major
Topic:
Developer Tools & Services
SubTopic:
Xcode
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