I ended up upgrading my OS to Big Sur 11.3.1 from Catalina. Then the Safari web inspector tabs come back.
Working combination:
OS: Big Sur 11.3.1
Safari: 14.1.1 (15611.2.7.1.6)
Xcode: 12.4 (12D4e)
louisyl
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@webkitdevtools
Oh, sorry, I thought it will launch with the original Safari application. Tested with the separate "Safari Technology Preview", it works now. I can see all the tabs with iOS simulator. Thanks for help. May I ask how soon the Safari application can have this update? Thanks.