JP--
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Started having this issue today (xcode 12.3, big sur 11.1) and ran into another layer of problems because while plugged into lightning cable it would say it couldn't setup device for development even though I built to this phone all the time. Turns out the Apple Watch synced to it seemed to be the problem -- after turning off the Apple Watch it let me build over lightning cable. Doing so also seems to let me build over wifi again without the hanging.
So if you have Apple Watch, try turning that off. Haven't checked to see if turning it back on will break xcode again.