To add or edit a title for a photo, video or story in your timeline, just tap on the item you want to add a title for, and then in the top right tap on the button in the top right.
You'll then get an option to add or edit a title (see below).
You can also add a title to new content during an upload.
Step 1: Tap anywhere on the progress bar (circled below in orange) to enter the upload screen.
Step 2: Tap in the title box (circled below in orange) to open the keyboard and add a title. Note that it is also possible to the content's date from here too.
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