As far as I can tell, vp9 hardware decoding should be available[0][1], but safari will fallback to software decoding[2]. I can't find much of a definitive source for Apple's supported codecs.
The device's hardware encoders/decoders have licenses already. Unless you're shipping your own you're not likely have to pay any royalties. If you're so successful the MPEG-LA comes a' knockin' you should have the money to pay the royalties.
The whole purpose of the MPEG-LA is to be a single entity to approach about licenses held by a bunch of companies. Avoiding paying licenses means avoiding codecs well supported by mobile hardware.
You end up with artificially limited numbers of encode streams and stuff with that, at least with nvenc (I think they doubled the limit at the beginning of the pandemic though).