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Install independent watchOS app
Xcode 11.5
iPhone SE iOS 13.4.1
Apple Watch 5 WatchOS 6.2.1
As of September 16, 2020
Launch Xcode, and open your project.
Connect your iPhone which is paired with your Apple Watch, to your Mac with a cable.
Select “Your Apple Watch via Your iPhone” in the active scheme, just like you do to build a WatchOS app paired with iPhone.
Build and run your app.
Xcode doesn’t show Apple Watch in the active scheme, but the same scheme as I used to build and run a WatchOS paired with iPhone did work to build and run my independent WatchOS app to my Apple Watch 5.
Xcode/Window/Devices and Simulators doesn’t show Apple Watch. So build and run your app on Apple Watch via WIFI doesn’t work. Connect your paired iPhone onto your Mac via cable.