Once focus moves to a radio group, it is stuck there until tapping out of the group.
Adding more detail.
This is mentioned in the docs as a "benefit", but it clearly isn't a benefit for a11y.
It appears the aria-activedescendant variation of the Radio Group Design Pattern was used (example from WCAG), which doesn't work properly with iOS Voiceover.
A solution that worked for me in my custom implementation was the roving tab index design pattern instead. Example from WCAG:
https://www.w3.org/TR/wai-aria-practices-1.1/examples/radio/radio-1/radio-1.html
I've verified that this is no longer a problem in Safari 12 (12.4.1 is what I tested against) on iOS or macOS using VoiceOver. All of the interactions that I tried worked as expected.
I'm going to close this as a Webkit/Safari issue that has been resolved.