Ah, it appears to be -target:
xcrun --sdk appletvsimulator clang -isysroot $(xcrun --sdk appletvsimulator --show-sdk-path) -target arm64-apple-tvos13.0-simulator test.c
trojanfoe
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6 years late, but I've just experienced this and it's the Info.plist settings:
Supported interface orientations (iPad)
which included all possible orientations despite setting just Landscape in the Build Settings. It's been this way for as long as I can remember, but I don't know why...
Anyway delete the orientations you don't want and ensure the iOS Simulator has Device > Rotate Device Automatically turned on and you should be golden.
Yup, just rebooting the iPad worked for me.
I get the same issue debugging from Xcode 11.4 to an iPad running iOS 13.3.1 and I am not running a firewall on my mac...