Same issue is discussed here since beta: https://developer.apple.com/forums/thread/653807 No solution yet ...

I have the exact same problem since update to Xcode 12 and can confirm the behavior "anders.u" is describing: starting the Jenkins daemon in user context let Jenkins build my app successfully. But when using sudo (or loading the daemon automatically during startup) the build always fails with "failed to open liblaunch_sim.dylib". There must be something which is available in user context only. I have no idea what it could be. I'm looking for a solution or workaround urgently. Loggin in as the local user automatically after boot and start the daemon is a security hole.