AltServer can do it but in my experience the Windows version of AltServer is extremely unreliable. AltStore never really auto-renewed properly for me until I put AltServer on an old MacBook Air. Furthermore, the fact that this process needs a second device to bootstrap provisioning at all[0] might be a non-starter for some. Take a week-long vacation? Well, now all your sideloaded apps stop working.

A far bigger limitation for me is the three-app provisioning limit. There isn't any way to work around it[1], and if you do want to do serious sideloading you almost certainly will need to upgrade to a paid developer account.

[0] Specifically iOS only allows app provisioning over USB or Wi-Fi, not locally. Locally installed software cannot actually communicate with the remote debugging daemon. You can work around this with network extensions, but you don't get to use them in dev-signed apps unless you have a paid dev account that's been approved by Apple to use them.

For the record, that isn't to make sideloading harder; that's because Facebook went and shipped a spyware VPN with their enterprise cert.

[1] Personal experience time: Even when jailbroken, and with AltDaemon and Immortal installed, AltStore still bumps up against the three-app limit.