Josh Centers talks through USB Restricted Mode, the politics of opening a backdoor into iOS, and the mechanics of breaking into an iPhone via the Lightning port.
Bottom line:
If USB Restricted Mode isn’t causing you any trouble, leave it on. Although it doesn’t offer complete protection against an alert attacker who can get access to your device quickly, it’s not worthless. Once your device has been locked for more than 60 minutes, nothing we know of can crack it.