Will WhatsApp still work on iPhone SE/6/6S if I have a newer version of iOS than iOS 10?

ios iphone whatsapp.app

From the WhatsApp FAQ you linked to in the question:

About supported iPhones

WhatsApp for iPhone requires iOS 10 or newer.

For the best experience, we recommend you use the latest version of iOS available for your phone. Please visit the Apple Support website to learn how to update your iPhone's software.

So the restriction is on the iOS version used, not the hardware.

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