Guys solution is top answer on stackoverflow: https://stackoverflow.com/questions/71618452/failed-to-prepare-device-for-development-with-xcode-13-2-1-and-ios-15-4-devic
1: Check /Applications/Xcode.app/Contents/Developer/Platforms/iPhoneOS.platform/DeviceSupport/ (for directory name of your iOS version). EG: 16.4.1
2: If the directory is missing download support files for 16.4.1 (your iOS version) from https://github.com/filsv/iPhoneOSDeviceSupport and place it in the above path.
3: Restart Xcode.
Worked for me with ios 16.4.1(a), xcode 14.2, macos 13.3.1
This problem occurred for me when my iphone automatically updated from 16.1 to 16.4.1(a)
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