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Update : I fixed it after installing the latest beta built of macOS. Be sure you have the latest beta on both the iPad and macOS Hope this helps

Hi, having the same issue too (Macbook air (latest) and Ipad pro 9.7', it used to work with previous versions of Ipad OS and Mac OS beta , so I guess this might be a bug, checking the console system.log i see this message everytime I click on connecting to my Ipad Pro --> Jul 21 10:42:52 peignoirs-air com.apple.xpc.launchd[1] (com.apple.driverkit.AppleUserHIDEventDriver.dfrv1-(0x10022ef92)): Unknown key for Boolean: _NullBootstrapPort