Background NFC tag reading is native without an app; NDEF formatted only. It’s not clear what models of iPhone support native background NFC tag reading. If nothing has changed then its the XS and XR and newer.
iPhone XS and later support background tag reading.
Adding Support for Background Tag Reading
Apple Expands NFC on iPhone in iOS 13
https://developer.apple.com/documentation/corenfc/nfcndeftag