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How to open iOS app from within extension?

My app is registered for URL Schemes:

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But I have no idea how to open that app, since I cannot use UIApplication.sharedApplication() in extension. Is it possible at all?

Apple's documentation says:

A Today widget (and no other app extension type) can ask the system to open its containing app by calling the openURL:completionHandler: method of the NSExtensionContext class.

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