Same problem here after updating a fully running Xcode Server with Xcode 12.1 on Big Sur to Xcode 13.2.1 on Monterey.
First the upgrade procedure asked for a "xcsd" keychain password that I don't have, after resetting the Xcode Server (xcscontrol --reset) the already mentioned SSL error occurs.
Feedback sent: FB9857290
JaNd3r
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You have to add the following capability to your app's entitlements: com.apple.developer.networking.multicast
To do so, the account holder of the developer program has to request this entitlement for the team, before it can be assigned to an app. See this page for details and a link the request form: com.apple.developer.networking.multicast - https://developer.apple.com/documentation/bundleresources/entitlements/com_apple_developer_networking_multicast
After I have added the entitlement, pairing and printing via NFC scan is possible and makes up a great user experience!
Hope this help.