If your target is iOS 9 and above, you should create storyboard references for the view controllers you want to include in another storyboard. Here's how it works:
Create a second storyboard, move the desired view controller into it and give it a Storyboard ID under the Identity inspector.
Go to your first storyboard and search for Storyboard Reference in the Object library.
Drag it into your storyboard and create a "view controllers" relationship with the tab bar controller just like you would with a view controller.
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