I found plenty of info on this for Safari 3, but things have evidently changed in version 4. I just happened to stumble upon the answer by experimenting, so posting it here for others.
To enable USB debugging, toggle the USB debugging option in the Developer Options menu. You can find this option in one of the following locations, depending on your Android version: Android 9 (API level 28) and higher: Settings > System > Advanced > Developer Options > USB debugging.
Safari includes Web Inspector, a powerful tool that makes it easy to modify, debug, and optimize websites for peak performance and compatibility on both platforms. And with Responsive Design Mode, you can preview your web pages in various screen sizes, orientations, and resolutions.
Disable debug menu by inputting defaults write com. apple. Safari IncludeInternalDebugMenu 0 into Terminal. Relaunch Safari after turning the debug menu on or off.
Checked in Safari 5.1.7 for windows. In the top right corner click Settings gear and navigate to Preferences>Advanced Tab. Check "Show Develop menu in menu bar"
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