The issue is related to the hardware keyboard: it should be disabled before launching UI tests.
For this, add a new run script action in pre-actions for Test by editing your .xcscheme.
The command line is: defaults write com.apple.iphonesimulator ConnectHardwareKeyboard 0
After your update, your .xcscheme must be:
...
<TestAction
...>
<PreActions>
<ExecutionAction
ActionType = "Xcode.IDEStandardExecutionActionsCore.ExecutionActionType.ShellScriptAction">
<ActionContent
title = "Disable hardware keyboard (required to tap text when switching text fields)"
scriptText = "defaults write com.apple.iphonesimulator ConnectHardwareKeyboard 0 ">
</ActionContent>
</ExecutionAction>
</PreActions>
...
Note: it will be only effective after restarting your simulator.