When does Apple usually release iOS, iPadOS and macOS?

Historically, Apple releases all of its major iOS/iPadOS and macOS updates shortly after announcing the dates in its Fall Keynote. iOS and iPadOS are usually released on the same day, while macOS comes a few weeks later.

The exceptions to the bundled iOS/iPadOS releases were iPadOS 13 (on September 24, 2019) and iPadOS 16 (on October 24, 2022). Apple started with iOS 7 and Mac OS X 10.9 Mavericks to align the releases of each major operating system in the fall.
Chart: Alexander KäßnerSource: Wikipedia, AppleEmbed Download imageCreated with Datawrapper