Updating Mac to 12.6 (21G115) didn't help - still won't talk to iOS 15.7 (19H12). I will try the workaround.
DaveHineman
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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.