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I have this same thing happening on real hardware only. Even happening after creating a new "Hello World" project.
I fixed this for my situation by deleting the contents of ~/Library/Developer/Xcode/iOS DeviceSupport/.
Did you ever solve this issue? I'm seeing same error come up with trying to access HomeKit from Widgets.
Having this same issue for independent watchOS app. Did you ever resolve this?
This started working after awhile. Not sure what the error was, but it had something to do with it working while disconnected from the debugger.
As far as how HomeKit cameras work, they work the same on watchOS as iOS. I'm using pretty much identical codebase for my apps.
I'm noticing this get called randomly. I think maybe it depends on the camera hardware implementation.