The _UISystemGestureManager, introduced in iOS 13, handles gestures across the system. It can be used to add and remove custom gestures from SpringBoard.
Adding a Gesture Recognizer across all of SpringBoard
self.pinchGestureRecognizer = [[UIPinchGestureRecognizer alloc] initWithTarget:self action:@selector(handlePinchGesture:)];
FBSDisplayIdentity *displayIdentity = [[[UIScreen mainScreen] displayConfiguration] identity];
[[_UISystemGestureManager sharedInstance] addGestureRecognizer:self.pinchGestureRecognizer toDisplayWithIdentity:displayIdentity];
Removing a Gesture Recognizer from the system
FBSDisplayIdentity *displayIdentity = [[[UIScreen mainScreen] displayConfiguration] identity];
[[_UISystemGestureManager sharedInstance] removeGestureRecognizer:self.pinchGestureRecognizer toDisplayWithIdentity:displayIdentity];