peter No, you need to tap in the text field to position the cursor. But this is on my todo list. In the meantime you could use a 3rd party keyboard like SwiftKey or Flesky. I think that should work, but I did not try it myself.
peter Actually, there is a builtin cursor function in the Apple keyboard since iOS12 which I wasn't aware of: Long press space bar and then you can slide your finger around to move the cursor on the screen. Details: https://9to5mac.com/2018/09/17/how-to-use-keyboard-trackpad-mode-on-every-iphone-and-ipad-with-ios-12/