How can I control an app on my iOS device from Mac or PC I would like to take control of my app on an iOS device (mostly an iPhone) from my MacBook Pro or Windows, doesn't matter which one.

I know that it can be accomplished via Veency, and that's exactly what I need - but I do NOT want to jailbreak my iPhone.

Is there a similar legal alternative?

If not - is it something I could develop perhaps, or will I run into some SDK limitations for such a thing?
All iOS SDK apps work within a security sandbox, and thus have no access or control over any other apps (with a few tiny exceptions for registered URLs). You could take control of you own app, but no others, including Apple's, on a stock OS device.