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Author here, happy to answer any questions.
This looks great - I was working with an old iOS app back when Swift was first released and I wrote an XML parsing library SOLELY because the SOAP support was horrific. I think this will help a lot of people. If you don't mind, I might add a link to your repo from my README just to help point people towards a better approach over manual XML parsing.
Thank you! links are fine of-course; the more the merrier.
I pitty anyone writing direct SOAP interfaces for an iOS app.

From a few years of app dev, at the end of the day it makes everthing a lot more flexible if proxied, even with a tiny facade, because it gives you options and choices when it comes to making changes.

Good point. Wouldn't you usually do this on a server and then expose a sane api to the ios app? Who consumes SOAP directly in ios?
Sure it might not make sense to use SOAP for communication between an iOS app and its server-side counterpart. However when writing consumers of an existing SOAP service, for example in an macOS or console application; it might make more sense.

    Why is it called Lark?

    SOAP is sometimes referred to as a fat messaging protocol.
    Swift is an elegant bird. 
    A Lark sometimes looks like a fat bird.
Excellent sense of humor, and a really useful library. Thanks a bunch for sharing!
Cool! As the author of a relative new python soap client (zeep) i do feel sorry for you Most wsdl documents dont follow the various specs which will result in a lot of support issues from users

Anyway feel free to contact me if you have any spec related questions

Cool project, seems like a nice improvement over what I've used in the past (suds). Also has some features that Lark currently lacks (SOAP 1.2 / HTTP bindings / rpc / WS-Addressing / WSSE).