DynamicTableViewHeader.swift

// Source https://stackoverflow.com/a/54237526
// MARK: Source Answer
extension UITableView {

    //Variable-height UITableView tableHeaderView with autolayout
    func layoutTableHeaderView() {

        guard let headerView = self.tableHeaderView else { return }
        headerView.translatesAutoresizingMaskIntoConstraints = false

        let headerWidth = headerView.bounds.size.width
        let temporaryWidthConstraint = headerView.widthAnchor.constraint(equalToConstant: headerWidth)

        headerView.addConstraint(temporaryWidthConstraint)

        headerView.setNeedsLayout()
        headerView.layoutIfNeeded()

        let headerSize = headerView.systemLayoutSizeFitting(UILayoutFittingCompressedSize)
        let height = headerSize.height
        var frame = headerView.frame

        frame.size.height = height
        headerView.frame = frame

        self.tableHeaderView = headerView

        headerView.removeConstraint(temporaryWidthConstraint)
        headerView.translatesAutoresizingMaskIntoConstraints = true
    }

}

// MARK: My version

extension UITableView {
    // Dynamic height tableHeaderView with autolayout
    func layoutHeader() {
        guard let headerView = self.tableHeaderView else { return }
        headerView.setNeedsLayout()
        headerView.layoutIfNeeded()
        let size = headerView.systemLayoutSizeFitting(UIView.layoutFittingCompressedSize)
        headerView.frame.size.height = size.height
        self.tableHeaderView = headerView
    }
    
    // Dynamic height tableFooterView with autolayout
    func layoutFooter() {
        guard let footerView = self.tableFooterView else { return }
        footerView.setNeedsLayout()
        footerView.layoutIfNeeded()
        let size = footerView.systemLayoutSizeFitting(UIView.layoutFittingCompressedSize)
        footerView.frame.size.height = size.height
        self.tableFooterView = footerView
    }
}