Add a height constraint to your textView and create an outlet so you can adjust it. Then you can use the UITexfield delegate method textViewDidChange(_ textView: UITextView) to adjust the height.
func textViewDidChange(_ textView: UITextView) {
    // get the current height of your text from the content size
    var height = textView.contentSize.height
    // clamp your height to desired values
    if height > 90 {
        height = 90
    } else if height < 50 {
        height = 50
    }
    // update the constraint
    textViewHeightConstraint.constant = height
    self.view.layoutIfNeeded()
}
shorter version... 
func textViewDidChange(_ textView: UITextView) {
    let maxHeight: CGFloat = 90.0
    let minHeight: CGFloat = 50.0
    textViewHeightConstraint.constant = min(maxHeight, max(minHeight, textView.contentSize.height))           
    self.view.layoutIfNeeded()
}