I'm not an authority on this, but I'll play devil's advocate a little bit. I don't believe there's a way to make it easier for end users on an iPhone than just scanning the QR code. Not without having full mdm control over their device.
I'm also not sure what benefit you're going to get from it beyond, at bare minimum, not having to relay through a gateway, which is fair.
I've used nebula for things like that, but it really hasn't gotten me much functionality beyond the ability to mesh a DNS sec server over that network... which is about the opposite direction you'd want to go for non-techies.