Have a look at https://github.com/libimobiledevice/libimobiledevice and iOS backup projects that are based on it.

Or idevice [0] (the one I prefer), or go-ios [1], or pymobiledevice3 [2]

[0]: https://github.com/jkcoxson/idevice

[1]: https://github.com/danielpaulus/go-ios

[2]: https://github.com/doronz88/pymobiledevice3

Over the years, I have tried to make that solution work, but it never ever went smoothly.

Maybe it’s time to try it again, but it’s an arms race from what I remember. Apple just keeps changing things; if you’re on the latest iOS version, it was unlikely to work. Has that changed?