The Xcode 13.4.1.xip worked for me. Download here:
https://xcodereleases.com/
Unzip it, launch it, connect the device. After it initialized the device, I was able to deploy to the iPad.
DaveHineman
Users receive reputation points by contributing quality content to the forums.
Posts include post and replies published on the forums.
Post authors can mark replies as Accepted to indicate successful solutions.
Apple Developer Forums admins can mark replies as Apple Recommended to indicate an approved solution
Post
Replies
Boosts
Views
Activity
Updating Mac to 12.6 (21G115) didn't help - still won't talk to iOS 15.7 (19H12). I will try the workaround.