iPhone — taps automatically, nothing to enable: iPhone XR, XS, XS Max, SE (2nd generation and later), and every iPhone 11, 12, 13 and newer (Apple).
iPhone — needs NFC Tag Reader switched on in Control Centre: iPhone 7, 7 Plus, 8, 8 Plus and X (Apple).
Android: essentially any Android phone with NFC hardware, as long as NFC is enabled in settings.
It's been standard on mid-range and flagship handsets for over a decade.