From the Apple Developers Documentation [1], "On initial launch of your app on a user’s device, the system automatically establishes an accredited, encrypted, and persistent IP connection between your app and APNs."
This persistent connection is, in fact, an XMPP session (likely, a modified one) [2].
Google's FCM too uses XMPP [3].
[1] https://developer.apple.com/library/archive/documentation/Ne...
[2] https://www.quora.com/What-technology-does-the-iOS-Apple-Pus...
[3] https://firebase.google.com/docs/cloud-messaging/xmpp-server...