You can create this in code instead of storyboard for sure, the only issue is macOS and iOS have different initialisers for ARView. When doing this previously, I just used an #if os(macOS) or similar to determine which one I'm using, and I get the exact same scene displayed on iOS and macOS.

If I remember correctly you can just specify which axis is up on exporting with Blender; that's probably the best choice here.