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From personal experience you can't. Since Android backs up Whatsapp chats to Google Drive and iOS to iCloud.I just sold my samsung s8 and had backed up my data with google drive on whats app, now I have an iphone it doesnt seem that I can restore from this back up. Is there any way around this, since i dont have my samsung s8 any more.
Recently moved from a Samsung to an iPhone. Had the same issue.
I was successful in transferring over my chat history/media etc using software called "Backuptrans Android WhatsApp to iPhone Transfer". I paid 19 Euros for it if I'm not mistaken and it ran flawlessly. I had an issue which was an error on my side when using the software and the developers support team was very responsive and gave me a complete way through as to how to use their software.
Can see the software here
Hope that's helps!