I do a lot of iPhone/iPad data recoveries and repairs and I have to deal with underfilled IC's all the time. Manufacturers use different types of underfill epoxy depending on the application (water, physical strength, vibrations etc) so you have to adapt to different IC's, boards and manufacturers (Apple, Samsung etc.). Generally speaking, it's all about trimming the visible edges so that adjacent components don't peel off and applying the right amount of heat to the IC and using a specialized "spatula" when necessary to lift the IC.
Here are some examples of the tools required, sorry for the external links:
https://www.unionrepair.com/qianli-toolplus-007-side-glue-cleaner.html https://www.unionrepair.com/qianli-009-ic-chip-removal-blade-16-in-1.htmlDepending on the type of IC and the epoxy used, sometimes just prying it off the PCB at the appropriate temperature is sufficient. When dealing with softer or larger IC's, such as the SDRAM or SoC (CPU) on the iPhone, you have to get the temperature right and use a chip removal blade to work the underfilled epoxy loose (without damaging the pads of course

). There's a surprising amount of intuition involved...which means lots of practice and failure until you get it consistently right.