I have the same issue, but the solution suggested here didn't work for me. I tried everything by now:
restart iPhone and Mac
uninstall and reinstall XCode (including removing both Library/Developer folders
update iOS and MacOS to beta version (one after the other)
use CleanMyMacX to clean my system (was thinking maybe there was some old XCode files)
reset Data & Privacy on my iPhone
When I'm plugging in the iPhone, I'm getting the "Trust this device" message on the phone. Then I'm prompted to enter the PIN. Meanwhile, this is what XCode shows:
I have an iPad which connects fine, but my phone simply won't connect anymore. It used to work, but recently stopped working. I don't think it's connected, but I also recently signed up to the Apple Developer Program 🤷♂️ I'm running out of ideas now. Any suggestions?