Install 'RealVNC VNC Viewer' on the device. Use 'TPCURL-vnc://' to launch the application or per their API 'tpcurl-vnc://[[:]]@< network_address>[:]' as required. Their release notes here: https://www.realvnc.com/docs/ios-release-notes.html

Launching applications do not launch them within TPControl, but will launch the application separately and take the full-screen focus away from TPControl per Apple's iOS design.