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Showing how iOS 12 recognized USDZ file in official Apple apps like Notes, Files, Safari and Mail. More apps are supported and this is an example of a few of them. As you can see, you don't need a special viewer app to view 3D objects/scenes in AR or in standard mode, the AR Quick Look viewer app is now part of iOS (since iOS 12). There are many 3D software and apps that allow export the 3D scene to USDZ or convert various 3D files to USDZ file format so you can share it using any of those supported apps.

I personally use Vectayt, but many others apps support the USDZ file, including those from Adobe, Autodesk, and others. Check out if your 3D modeling software supports it, and if not, there might be an extension or plugin that enabled this. You can always export the scene so SLT file and convert it in another app or service