Is There An Accessible Way to Control Someone Else's iPhone Remotely?

Hello, I have a friend in another state who has asked me to help her customize some things on her phone. We are both VoiceOver users. About a year ago, we tried to control each other's devices via screensharing on FaceTime, but it wasn't accessible at all. The best I could do was read her screen with VO screen recognition, and I couldn't control her phone at all. We also tried TeamViewer, but that was even worse; I couldn't even use screen recognition. Has this changed? Is there any way one VO user can remotely control another's phone? If not, is there a way for me to hear her VoiceOver output over screenshare? She is proficient with VO, so I don't strictly need to perform the gestures for her, but I do need to hear what her screen reader is saying so I can help in real time. Thanks for any input!