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...
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.
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'