Can I simulate a scan from an iPhone or Android device from a desktop computer?

Yes. You can install a browser extension that will allow you to switch between browser user-agents.

Search for a "User agent switcher" extension and install the one that works better for you.

Click on the toolbar icon and select the User-agent you want to emulate.

You will be able to follow a URL just like you were scanning a QR Code from an Android or an iOS device using your desktop computer.