I created an app with Swift 5 in Xcode 10 and added the UDIDs of multiple iOS devices to my developer account (got the $99 one).
If I install my app on the device throug
You can export it for for App Store submission via automation tools - which is often done in a company environment (multiple developers, multiple apps, CI / CD [Continuous integration / Continuous Delivery], etc).
If you're not doing that, you submit the app via Xcode.
Probably worth your time to read through https://help.apple.com/app-store-connect/