There is no such way. Full stop.
The only thing you could do to come close is to in parallel lay out the text using CoreText, there calcualte the text position from a point and apply that on the UITextView. This, however, works with non-0 selections only. In addition CoreText has a different text layout engine, that e.g. supports kerning, which UITextView doesn't. This may result in deviations of the rendered and laid out text and thus give sub-optimal results.
There is absolutely no way to position the caret. This task is even very though if you do use private API. It's just one of the many "just don't" in iOS.