One way to do this is by placing the image inside another view that's 5 pixels bigger. The bigger view should have a transparent rasterized border that will smooth the edges of the UIImageView:
view.layer.borderWidth = 3;
view.layer.borderColor = [UIColor clearColor].CGColor;
view.layer.shouldRasterize = YES;
view.layer.rasterizationScale = [[UIScreen mainScreen] scale];
Then, place your UIImageView inside this parent view and center it (With 2.5 pixels around each edge).
Finally, rotate the parent view instead of the image view.
It works very well - you can also encapsulate the whole thing in class that creates the hierarchy.
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