I am trying present ViewController I have created with StoryBoards:
 AuthViewController *authViewController = [[AuthViewController alloc] init];
    UINavigationController *nav = [[UINavigationController alloc] initWithRootViewController:authViewController];
    UIViewController *vc  = [[[[UIApplication sharedApplication] windows] firstObject] rootViewController];
    [vc presentViewController:nav animated:YES completion:nil];
But getting it with black screen. What could be the issue?
Alloc init AuthViewController does not mean that will create a view layout for controller.
Here view controller does not load its view that's why you are getting black screen. Use storyboard object and identifier of view controller to load its view.
Specify storyboard identifier in Storyboard of AuthViewController controller.
Add Storyboard ID and  mark true for Use Storyboard ID option like in below image:

Now get AuthViewController controller object using below code:
AuthViewController *controller = [self.storyboard instantiateViewControllerWithIdentifier:@"AuthViewController"];
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