Disable WiFi debug in the device window.
Hanging will become rare.
However, sometimes it appears anyway. Just unplug the test device from the cable and plug it back in.
This error is somewhere in connection with the device for debugging.
SlonGL
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sudo arch -x86_64 gem install ffi
Then
arch -x86_64 pod install
sudo arch -x86_64 gem install ffi
Then
arch -x86_64 pod install
UPD. One underline between x86 and 64. This forum need to enter two, but show one only.
The solution was to make Apple Configurator 2 beta restore. But under physically (not VM) BigSur. It seems no chance under Catalina.