You need to have an Apple developer account. Then you need to submit your app to Apple for review. Then you need to comply with a list of sometimes arbitrary corrections/requirements that they send back (there is a document that specifies what you need to do, but it is not uniformly enforced in my experience). Then, eventually, you can list your app on the app store.

It’s not super onerous, but it is much more annoying than the theoretical alternative of allowing people to install software of their choosing on their hardware (i.e. download the binary and run it)

Do you want to release it to the general public or just a circle of friends and family? TestFlight lets you have up to a hundred users forever without ever truly releasing. I have a couple of home-relevant apps I am managing that way.