I found that UICollectionView is like an upgraded version of UITableView introduced in iOS6, but when should I choose UICollectionView
For simple lists and forwards/backwards navigtaion, use UITableView.
If you need a high degree of customisability, use UICollectionView.
Generally speaking, in software development, it's best to choose the approach which represents "The Simplest Possible Thing".
EDIT: As of iOS 14, UICollectionView can now do lists as well and is now the recommended approach. See this session from WWDC20 for more information and implementation details: https://developer.apple.com/videos/play/wwdc2020/10026/