I am experiencing the same issue. The ios-deploy is updated to 1.11.1 and still the same issue. xcode is version 12.0 beta and ios is 14.0 beta.
The issue happens after lunching the app.
----- Debug phase
Starting debug of XXXXX (N104AP, iPhone 11, iphoneos, arm64e) a.k.a. 'iPhone' connected through USB...
[	0%] Looking up developer disk image
[ 95%] Developer disk image mounted successfully
Failed to start debugserver: e8000022 The service is invalid.
Waiting for the device to scan mounted image
2020-08-30 11:05:39.249 ios-deploy[5568:7677781] [ !! ] Error 0xe8000022: The service is invalid. AMDeviceSecureStartService(device, CFSTR("com.apple.debugserver"), NULL, &con)