How to downgrade iOS 10 to iOS 9

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How to downgrade back to iOS 9 using a clean restore:
Step 1: Back up your iOS device.
Step 2: Download the latest (currently iOS 9.3.5) public iOS 9 IPSW file to your computer.
Step 3: Connect your iOS device to your computer via USB.
Step 4: Launch iTunes and open the Summary page for your iOS device.
Step 5: Hold the Option ( ) key and click the Restore iPhone button. (Windows users will need to hold Shift instead of Option).
Step 6: Select the iOS 9 IPSW file downloaded in step 2 and click Open.
Your iOS device will now be downgraded back to iOS 10. It will take a while for the process to complete, so be patient.

How to downgrade back to iOS 9 using the update method:
Step 1: Back up your iOS device.
Step 2: Download the latest (currently iOS 9.3.5) public iOS 9 IPSW file to your computer.
Step 3: Connect your iOS device to your computer via USB.
Step 4: Launch iTunes and open the Summary page for your iOS device.
Step 5: Hold the Option ( ) key and click the Check for Update button. (Windows users will need to hold Shift instead of Option).
Step 6: Select the iOS 9 IPSW file downloaded in step 2 and click Open.
Your iOS device will now be downgraded back to iOS 9. This method makes it so that your device updates while keeping most app data, Home screen layout settings, etc. It will take a while for the process to complete, so be patient. In the video walkthrough below, I’ve sped up the file extraction and installation process to save time.
Step 7: When prompted, Slide to upgrade and the enter your passcode to complete the process.

If you used a configuration profile to install the iOS 10 beta, it will remain on your iOS device, which will allow you to easily upgrade back to the iOS 10 beta at a later time. If you don’t plan on using the iOS 10 beta again, the configuration profile, found in Settings General Profiles, can be deleted.
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