Just another report of same issue, Version 15.2 (15C500b) MacOS 13.6.3, Intel 16" Macbook Pro:
ld: warning: building for 'macCatalyst', but linking in dylib (/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/Cocoa.framework/Versions/A/Cocoa.tbd) built for 'macOS'
ld: warning: building for 'macCatalyst', but linking in dylib (/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Versions/A/OpenGL.tbd) built for 'macOS'
ABR
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Just to post an update since I bumped into this from google, with Xcode 12.4 and iOS 14.4 this issue is still going strong. In my case I got around it by a combination of restarts and reconnects PLUS I needed to connect my iOS device via cable instead of WiFi.
No sign of anything and looks like no one knows. (Gboard can't do it, so must be impossible.) Guess I'll send a feedback report. Sigh...