I have the same issue when trying to launch an app on a simulator using debug executable. If I run non debug executable, I stop getting this issue, but have an installation problem. But even if I was able to run the non debug version it would make things very inconvenient, since I need all the debug tools. This seems like its a problem with Xcode think that Im just a user and not a developer.
My Xcode version is 12.0.1 and I have added a developer Apple ID to Xcode preferences. I also have developer certificate attached to my keychain.
RedWasTaken
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