I have the same problem. But it was solved. The reason is the prefix of application-identifier is different from team-identifier. After I regenerated AppID in "Certificates, Identifiers & Profiles", the error did not occur.
Before Fix
com.apple.application-identifier
ABCDEF.com.example.SampleApp
com.apple.developer.team-identifier
ZYXWV
After Fix
com.apple.application-identifier
ZYXWV.com.example.SampleApp
com.apple.developer.team-identifier
ZYXWV
I hope this helps!