if anyone else is running into this error, just ran into this in Feb 2021, i found a clue that helped me solve it via this other forum post
https://developer.apple.com/forums/thread/662300when i would go to the keychain app on mac and click on the auto-generated developer certificate (not provisioning profile, but certificate), keychain was showing a message about the certificate being "not trusted"
delete that cert, it seems to be bad.
this led me to the above link, which tells you to re-download an intermediate certificate. then do the automatic provisioning in apple xcode as usual (like unclick automatic button and reclick it). then try to run on device. works, finally first time in a couple weeks i got this to work.
what a terrible error message it gives for this problem. why not just say the intermedidate certificate is untrusted, so get a new one from this link here?