I do think Apple would get a lot of PR if they had a mechanism similar to what some Android phone makers have. Take HTC. You log onto their site, create an account, put in the IMEI number of your device, read the dire warnings that this will set any semblance of a warranty on fire and that doing so is at one's risk, get a file to load in the device, and it is unlocked.
Apple doing this, say for registered iOS developers, would be a big PR move and get a lot of people who are on Android back into the iOS camp. Plus, it might help Apple find new markets when someone uses their product in a new way. For example, some older phones I use as "encryption heads" for cloud storage. Copy to the file share from the device, the phone takes the file copied, encrypts it, then saves it to a cloud storage area. All completely transparent to me.
Having jailbreaks be the same mechanism that beta iOS releases are handled is a win/win/win situation on all sides. iOS devs are the least likely of anyone to use an open device for piracy. iOS devs also won't be calling Apple about their phone is broken due to faulty code. Finally, it allows company owned devices to keep internal security while letting personally owned phones to be used how the users desire.