mutual auth, peer verification, yes - same thing. To say, the SBC being configured to offer a cert your devices trust and demand the devices provide a cert the SBC trusts.
You can have 1 cert for "ios devices" but lose the ability to revoke it on a device by device basis.
You could just as well offer up a verisign cert to the devices from the SBC - that part doesn't matter - you're just asking the devices to trust your SBC, whether that's through your enterprise PKI or public, it's not entirely relevant as anyone can wireshark a TLS handshake to your SBC, grab your CA cert and decide to trust it.
Somewhere in the profiles/end point policy groups/endpoint flows you can define which CAs you trust for peer validation and you should be able to break out different "security" and "signaling" rules on a per-user agent basis. So in short, Avaya One-X Desk* can do mutual TLS and need the phone to present a cert chaining up to your enterprise CA and iOS devices won't require that.
Or, in a more practical sense globally, you may have internet facing TLS SIP trunks from a carrier. You can peer verify for them and trust a public Verisign CA for that SIP trunk and offer them a verisign cert for your SBC. You can SIP trunk across your WAN to a company you just acquired and have a peer validated TLS sip trunk where you require an enterprise CA-signed cert for that one. You can have remote workers need a peer validated enterprise CA cert to come on in. Then you can set up the HTTPS reverse proxy to Aura Conferencing so your people can send out collaboration invites to outsiders and share desktops and stuff and have no peer verification for those outsiders coming in, but have a verisign cert for
on the SBC. That conferencing case is one where you're trying to prove your interface's trustworthiness to John Q Public and you don't need anything back from him for him to participate in a screen sharing session. You just want to send him a valid cert so he gets the little green lock in his browser so firefox allows the website to acquire his webcam and microphone.
So yes, you can peel it out!