If you use "Apple Configurator", you can create a profile that can be installed to allow PSK on iOS and Mac. It supports both IKEv2 and LT2P, either can be configured to work with RouterOS with correct/aligned options. No client app required. It sometime takes fiddling since Apple terms do not perfect match RouterOS, and IPSec on RouterOS is not easy. But most/all mode should be possible to configure using Apple Configurator:
https://apps.apple.com/us/app/apple-configurator/id1037126344?mt=12
What this does is actual create a .mobileconfig file that you can open on Mac, or send via Message, Files, etc to iOS with the VPN details. The UI does not allow the same options. Now perhaps there is some CLI to do this on Mac, but you'd be better offer trying make sure things match using the GUI and attempting to install/use the .mobileconfig file. Both will then prompt you install your "untrusted" profile (e.g. the system is designed for MDM, so unless you have an Apple MDM/developer account, you cannot sign them — so you'll get a warning about that, since the .mobileconfig is that plain XML without a signature.
As a technical point, the plain-text/unsigned .mobileconfig can be generated on RouterOS with the needed details if you wanted to get fancy here. Since it's just a XML, it just need the right settings. So if you want to automate this, without needing Apple Configuration each time you can on RouterOS side - but you do need to know/have the working XML orginally from Apple Configurator. But I have a starting example... that actually get you certs if that's the path you wanted go since the certificates can be part of a .mobileconfig as well.