You'll see it under AppleAuthCPRelay in ioreg, it's just connected to I2C.
The same AppleAuthCPUserClient appears to also be used to talk to a connected #Lightning authentication chip (over the IDBus protocol)... see AppleAuthCPMGAID
On the iPhone 12, the battery also contains a similar authentication mechanism, though it doesn't exactly seem to be the same MFi coproc.