Compatible with iOS 12+ only.
AppShortcut allows you to quickly access your favorite iOS apps from anywhere you are on your device; that includes your lockscreen as well. You can add as many icons as you want ( no limit ).
It behaves like AssistiveTouch, for example it will fade when you’re not interacting with it and snap to the edges ( can be turned off), also there is a dark mode included.
Options to configure:
You can customize AppShortcuts appearance in the preference panel in the Settings app.