This was the answer for me to get the DriverKit Sample App working: https://developer.apple.com/documentation/driverkit/communicating_between_a_driverkit_extension_and_a_client_app
Ignore the whole section where it tells you to make everything signed manually or locally: set all three targets for automatic signing, choose your dev team, and set all three to "Apple Development" for Code identity in build settings.
Note: running on M2 Pro, with SIP disabled, and developer mode on.
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I had to request the entitlements from Apple and was just granted them, so I'm about to test this. Will come back in a few days.
rofl, hey let us know if you get a solution implemented
The full set of commands can be seen by running: swift package -help
Also, an update: the command above is outdated. The current syntax is swift package purge-cache (swift tools v5.7)