Custom actions work with VoiceOver, Switch Control and Full Keyboard Access. They also do for Voice Control. You can say "Show actions for <item name/number>", and an action sheet with all options, numbered, will be presented to the user.
For some use-cases, Voice Control users might not feel it is a big win. Navigation is not as big of an issue, and interacting with custom actions might be a bit trickier than with "exposed" buttons. But lots of times seems a fair compromise.
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A quick way for turning on, or off, VoiceOver is by using Siri. Say something like: "Hey, Siri! Turn on VoiceOver", and you'll find yourself using VoiceOver in no time. You can also do the same with other technologies like Voice Control.
Accessibility labels should not contain the type of the control, that's a job for the accessibility trait instead. If you have a button with a label like "Close button" and the ".button" trait, VoiceOver will say: "Close button, button".
Custom actions work as great on Switch Control as they do in VoiceOver. It makes navigation much, much, faster and you’ll be able to find all those custom actions in the Switch Control menu.
