As Apple released iOS 9.3.4 to fix Pangu's iOS 9.3.3 to iOS 9.2 Jailbreak, I managed to rebuild my patches for 9.3.4 so that you can continue your development. These patches are available for iOS 9.3.4 only, and only for iPhone 6S as for now. The patches for iPhone 5 iOS 9.3.4 were also released.
In the video, I quickly explain about the process of invalidating the Setup.App so that AMFI (Apple Mobile File Integrity) will deny to start it, hence, you get redirected to the Springboard.
I received a lot of feedback from you to explain more about the processes behind the patch and how it works, so that you can have the bigger picture of the entire process, and so I decided to explain it in the video.
Continue to leave your feedback in the comments section of the video. Even tho I can't reply to all comments, I surely read them all.
You can follow the iPhone 5 iOS 9.3.3 CFW creation tutorial to learn how to use and restore a CFW with Setup.App Patches. The process is similar, only the patch and the main IPSW (iOS 9.3.4) is being changed.
Also! Make sure you use Firmware Manager (latest version) or the updated libimobiledevice to restore to avoid complications.
If you have any questions that were not addressed in the F.A.Q. page, feel free to ask them!
All the documentation, tutorials and files are in the video's description.