I just (about 3 weeks ago) restored my 5S as new with no SIM installed. I am trying to remember how I got past that point - neither of my other two phones have the same sized SIM, one is larger and one is smaller. I just rebooted (power +home) and I get this
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But it finishes start up as soon as I tap 'ok'. If I get by my computer I will back up my phone and restore to see how I did it. Unfortunately this will take me from 9.3.5 to 10.2 and my current iOS on this is rock stable.