IOS publish newbie question

I’m a newbie EXPO developer. I have built my React-Native app and published via EXPO publish multiple times. I am able to share the Android app easily by sharing the expo publish page with QR code. I would like to get something similar setup so that I can get my app tested on IOS devices.
I have read the expo docs on publishing, but I’m still unclear on all the steps.

Question: Do I need to sign up on the Apple Developer program first or will EXPO manage that for me?