I had the same problem and did not find information on how to solve it for iOS devices (any browser).
So, I inserted jquery to scroll down when url parameters have a string submissionGuid- a parameter that is present in all views of the hubspot form.
if (window.location.toString().indexOf("submissionGuid") != -1) {
$("html, body").animate({
scrollTop: $("#AREA_INLINE_MSG").offset().top + 3000
}, 1000);
}
: 3000 , .