“Failed to prepare device for development.” with Xcode 13.2.1 and iOS 15.4 device

by
  1. Check /Applications/Xcode.app/Contents/Developer/Platforms/iPhoneOS.platform/DeviceSupport/ for directory name 15.4 (your iOS version).
  2. If the directory is missing download support files for 15.4 (your iOS version) from https://github.com/filsv/iPhoneOSDeviceSupport and place it in the above path.
  3. Restart Xcode.

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