Sure! The App you download is Remote for Tesla ($19.95). Log in w/ your Tesla credentials.
Then use the apple app "Shortcut" to create a new shortcut. (Name it "start my car").
Hit the plus sign to add a step. Choose "Apps", then "Tesla Remote", then "Awaken Tesla".
Add another step (plus sign again):
Choose "Apps", then "Tesla Remote", then Choose "Set climate to 68F"
Add another step (plus sign again):
Choose "Apps", then "Tesla Remote", then Choose "Open/unlock charge port"
Add another step (plus sign again):
Choose "Apps", then "Tesla Remote", then Choose "Unlock Tesla"
Add another step (plus sign again):
Choose "Apps", then "Tesla Remote", then "Enable Keyless Start"
Add another step (plus sign again):
Choose "Apps", then "Tesla Remote", then Choose "Homelink"
Choose "Done".
You can now use sire by saying "Start my Car" and all commands will run in sequence.
You can also add the shortcut to your iPhone home screen (choose the 3 dots top right, then "add to home screen") and then one button press will initiate the shortcut sequence.