I'd like to look at files from the iOS 16 filesystem. It's super easy, so easy that everybody except me seems to just know.

tl;dr: unzip the ipsw-file and double-click on the biggest dmg file to mount the iOS file system.

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Unzip the ipsw:

$ unzip iPhone14,4_16.0_20A5339d_Restore.ipsw

The contents look somewhat like this:

$ ls
078-13514-117.dmg                     Firmware
078-13705-081.dmg                     Restore.plist
078-13778-116.dmg                     BuildManifest.plist
078-37621-074.dmg                     kernelcache.release.iphone14
078-37644-065.dmg                     kernelcache.research.iphone14

Look for the biggest .dmg file:

$ du -sh *dmg
142M	078-13514-117.dmg
4.5G	078-13705-081.dmg
140M	078-13778-116.dmg
 10M	078-37621-074.dmg
2.6G	078-37644-065.dmg

You can simply double-click or call open 078-13705-081.dmg to mount the dmg-file. There's your iOS filesystem.