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The Guided Access method is the one that is usually suitable for home usage. It is, as you describe, easy to break out of if you want.
If you want to protect against reboot breaking out of Guided Access, then "Single App Mode" is the way to go. In contrary to what you write, it is not necessary to have an MDM system for that to work.
All you need to do is ...
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The answer depends on what you mean by "making the same app for iPad".
If you mean that you're going to take the app (its source code) and make it compatible with both the iPhone and the iPad at the same time - and then publish that on the App Store for both platforms - then yes, you can do that. When you change your Info.plist to indicate that you support ...
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