I was having this error as well. Xcode 11.6, iOS 13.6. iPhone 11.
I was about to do some dramatic reinstalls and if that didn't work maybe throw my computer out the window.
But then for some reason I thought to change the iOS Deployment Target from 13.0 to 13.6, and the error was fixed. Even after changing the iOS Deployment Target back to 13.0 it still worked.
JiminyKirket
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