My solution was to change wrongly set Provisioning profile under Debug section for tvOS target to a development profile.
I faced similar issue, but with main tvOS app target. XCode 15, Sonoma 14.0 I didn't touch tv target for a while, updated XCode few times and then found that I can't debug on apple tv device anymore. Message was the same as posted here. After some failed attempts to fix it by changing build settings, I found that my signing profiles were somehow messed up and InHouse profile was selected in Provisioning profile under Debug section. I changed this profile back to my development profile and suddenly it all worked. Weird thing that wrong profile was never mentioned in any error message.
Just in case my build settings which were mentioned in this post are both set to default values:
CODE_SIGN_INJECT_BASE_ENTITLEMENTS - YES for both (default value)
DEPLOYMENT_POSTPROCESSING - NO for both (default value)