If your goal is not necessarily to downgrade to a years-old iOS, but simply to stay on the current version while avoiding a nagging update, you can use tools like (or third-party utilities like Supervision) to install a "Delay OTA" profile. This allows you to stay on a specific version for a set period (usually up to 90 days), but this is distinct from installing unsigned firmware.
For modern iPhones, installing unsigned firmware almost always requires (digital signatures) that you must have saved while Apple was still signing that version. IPSW Files Signed by Apple - Apple Support Community iphone install unsigned ipsw
However, I can summarize the , the risks, and the legal/security context for academic or research purposes. If your goal is not necessarily to downgrade
Modern users often jailbreak devices not to install unsigned IPSWs, but to install . This allows users to install "unsigned" apps (IPAs) permanently, bypassing the App Store. This satisfies the urge for customization without the catastrophic risk of messing with the operating system kernel. IPSW Files Signed by Apple - Apple Support