To open your iCloud Drive on your iPhone, follow these simple steps:
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Go to the Files app on your iPhone.
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Tap Browse at the bottom of the screen.
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Tap iCloud Drive below Locations. If you don't see Locations, tap Browse again. If you still don't see iCloud Drive below Locations, tap Locations.
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To open a folder, simply tap it. From here, you can modify files and folders.
In summary, the Files app on your iPhone is the primary way to access your iCloud Drive.