iOS Service/launchd agent implementation

Is there a way to implement a launchd agent / service to do continuous background monitoring on iOS? The idea is to roll the app on the device once - have it request permissions if necessary and then have it autostart and run in the background, transparently to the user.

I understand there are background tasks - but I understand these are limited in terms of time-window they can run and I would still need to make foreground, before I can schedule another?

I do not intend to distribute the app/package outside of the org.