Apologies, but no success in terms of ipad or converting to a printable (normal) pdf. This is a terrible outdated technology. (I thought I could print in a regular non-xfa pdf but I was wrong)No, it is literally impossible to even view them. I checked with Adobe and they told me the format that IRCC uses is deprecated and hasn't been updated since 2012. It's called "XFA - xml forms architecture"
There are programs (including adobe) that will allow you to print them in a normal pdf or picture form which you could read on your ipad. They cost money though and since I've no need I didn't try them. The windows world may offer many more options, or linux, but I try to limit my rabbit-hole research, and this is quite the rabbit hole.
I suspect there is a solution for office users (I mean especially those who use Acrobat at work and have site licenses) that would allow them to print in a regular, non-editable pdf that would allow you to view them on ipad, but I don't have access to one of those right now.
Sorry couldn't be of more help. Truly awful old priority architecture that I'm sure the government will move away from but doesn't help you right now.