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you must agree to the Xcode and Apple SDKs Agreement to use Xcode and production SDKs, which is a click-through when starting Xcode.

You must agree to an Apple Developer Program License Agreement to sign and distribute applications and to get access to pre-release SDKs.

Don't you need to be registered in the developer program to sign your code for Apple's embedded platforms?

You do, but if I built a game using Unreal Engine then I'd be using my developer account to sign my game.

Yeah, but as a developer of Unreal Engine itself I'd like to be able to test it on iPhone…

Then create a free developer account. You only need to pay if you need to sign for distribution.