For me, I found a workaround: first i didn't make the TableViewController and then embedding it, but I started by putting the Navigation controller first (this will make the TableViewController appear automatically by default). Then I went on the TableViewController and set it as Initial View Controller. By doing so the error went away.
Needless to say but I also needed to change ViewController.swift into class ViewController: UITableViewController and of course the Root View Controller must point to the classViewController.
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