When you pick up your iPhone, the display turns on. This is often convenient because you still want to use your iPhone. But think of the times when you just pick it up to take it anywhere. The display turns on anyway, and now you accidentally respond to messages, turn on your flashlight, etc.
The good news? You can stop this function directly in its tracks. Just go to the Settings app, tap "Display & Brightness" and uncheck the switch next to "Raise to wake up". The next time you pick up your iPhone, the display will remain off. You have to activate it manually to interact with your iPhone. If you miss Raise to Wake, you can of course reactivate it at any time.
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