How can I share information between my iOS and Watch apps using WatchConnectivity?

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[Disclaimer: this question is intended to be a wiki question to answer the frequent questions about sending data between the iOS and watch apps under the watchkit and watch-os tags.]

I am developing an Apple Watch app and would like to send data between the iOS app and its WatchKit extension. I have looked at the WatchConnectivity framework, but don't really understand the difference between all of its methods.

Which function should I use if I want to be able to send data even when my apps are in the background?

Which function should I use to send UI updates to the Watch?

Which function should I use to send large data?

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