After investigation we have proven that we do not need to publish packages till actual SDK release.
Cocoapods allows us to use packages as development pods and this way of distribution it's perfect for development.
Releasing packages and locking versions will be less flexible and may affect development workflow.

I have done work for this ticket around organizing cocoapods specifications in order to use them in any projects.
Example project links to core pod to showcase how development pods can be used.
Outstanding task is just to release packages, which may be done later.