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I'd like to do some R&D pushing the boundaries of iOS devices. Is there a how-to guide or private API documentation?

Is there a Stack Exchange site for this?

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up vote 0 down vote accepted

There is a Stack Exchange proposal but it's lacking support:

[...]for iOS developers who require help and advice when using undocumented iOS APIs. Developers who discover private iOS APIs and need a place to document them.

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Note that the linked proposal is now closed. – Caleb Nov 1 '12 at 21:21

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