Did you download the Simualtor Runtime visionOS_1_beta_Simulator_Runtime.dmg and copy the contents to the /Library folder?
You also have to give the simulator permission to run in the Mac's Security & Privacy Settings
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I've had the same problem with iOS 14.4 (18D5030e)
The remote device connection terminated with an error.
Domain: com.apple.dtdevicekit
Code: 802
Failure Reason: The device finished with the error code -402653083 ("Could not connect to the device.").
Recovery Suggestion: Please check your connection to your device.
User Info: {
DVTDeviceErrorIsProxied = 1;
DVTRadarComponentKey = 487927;
}-
Could not connect to the device.
Domain: com.apple.dt.MobileDeviceErrorDomain
Code: -402653083
User Info: {
DVTRadarComponentKey = 261622;
MobileDeviceErrorCode = "(0xE8000065)";
"com.apple.dtdevicekit.stacktrace" = (
0 DTDeviceKitBase 0x000000012f0aac8f DTDKCreateNSErrorFromAMDErrorCode + 220
1 DTDeviceKitBase 0x000000012f0c0f96 -[DTDKCopyValueRequest finishWithResult:andError:] + 490
2 DTDeviceKitBase 0x000000012f0bc67b _60-[DTDKRemoteDeviceConnection primitiveDrainPendingRequests]blockinvoke3 + 213
3 DVTFoundation 0x000000010ffa117e DVTCALLINGCLIENTBLOCK + 7
4 DVTFoundation 0x000000010ffa2da0 _DVTDispatchAsyncblockinvoke + 1191
5 libdispatch.dylib 0x00007fff201ed5dd dispatchcallblockandrelease + 12
6 libdispatch.dylib 0x00007fff201ee7c7 dispatchclientcallout + 8
7 libdispatch.dylib 0x00007fff201f1195 dispatchcontinuationpop + 423
8 libdispatch.dylib 0x00007fff201f0868 dispatchasyncredirectinvoke + 713
9 libdispatch.dylib 0x00007fff201fd857 dispatchrootqueuedrain + 326
10 libdispatch.dylib 0x00007fff201fdfb8 dispatchworkerthread2 + 92
11 libsystempthread.dylib 0x00007fff20396453 pthreadwqthread + 244
12 libsystempthread.dylib 0x00007fff20395467 startwqthread + 15
);
}-
System Information
macOS Version 11.2 (Build 20D5029f)
Xcode 12.3 (17715) (Build 12C33)
Timestamp: 2021-01-09T15:19:40Z