I'm having the same issue on below with Xcode 12.4:
Simulator (iPad Air 4th generation) - iOS 14.4
Device (iPad Air 2) - iOS 14.4.2
As one of work arounds, I found the console messages stop when I disable below of iPad Settings.
Settings General Keyboards All Keyboards Shortcuts
It applied both on the simulator and my iPad Air 2 device.
Not sure the side effect yet.