Mostly you can swipe in from the left edge to go back. It’s not 100% consistent so can be frustrating when it doesn’t work, but I seem to remember similar with the back button in Android.
Every time I Use someone’s android phone and try to go “back” I swap and nothing happens or I end up in some weird state. Then it’s like “oh yeah back button” this is despite using android for a few years before going iphone. You just get used to it after a while.
