UPDATE: Unfortunately, there is only microphone support in this framework!
Finally, there is a solution!
WKWebViewRTC is a brand new WebRTC library for WKWebView for Swift on iOS, and it works like a charm!
https://github.com/OpenTelecom/WKWebViewRTC
clone repository and build framework
add framework to your project with "Embed & Sign" setting
add this line of code after WKWebView initialization
WKWebViewRTC(wkwebview: webView, contentController: controller)
This way mediaDevices and getUsermedia are available to use.
Minimum iOS version of framework is iOS 12.