As far as I know, this is not possible - see here for more information on what you can and cannot do. You can tell when the camera is autofocus, but nothing more.
I am sure that there may be additional information that you can get at focus / distance using a private API call, but if you are not worried about getting to the App Store, this is not an option.
This does not mean that there is no other way. Sounds like a good discussion on this topic: Distance using OpenCV (you can compile openCV for iOS!)
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