I had this issue. In the release notes, - https://developer.apple.com/documentation/xcode-release-notes/xcode-12-beta-release-notes/ it says:
Devices
Known Issues
On macOS 11 beta 5 or later, Xcode may crash when you open the Devices and Simulators window. (66932201) Workaround: Make sure that you have trusted all mobile devices paired with the Mac, disconnect any devices that you don’t wish to use for development, and set “Show scroll bars” to Always in the General pane of System Preferences. This fixed the issue for me.