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WDA issue with iOS 13.3.1 - fails with error code 65

See original GitHub issue

The problem

After updating my iOS devices to 13.3.1, WebDriverAgentRunner is not launching during tests and throws. Same setup works with iOS 13.3.

Environment

Appium version (or git revision) that exhibits the issue: 1.16.0 (also in 1.15.1/1.15.0)
Last Appium version that did not exhibit the issue (if applicable):
Desktop OS/version used to run Appium: MacOS Mojave 10.14.6
Node.js version (unless using Appium.app|exe):v12.8.1
Npm or Yarn package manager: npm
Mobile platform/version under test: iOS 13.3.1
Real device or emulator/simulator: Real device
Appium CLI or Appium.app|exe: CLI

Details

Test for WDA also fails when done through terminal using xcodebuild -project WebDriverAgent.xcodeproj -scheme WebDriverAgentRunner -destination 'id=<udid>' test.

Testing failed: WebDriverAgentRunner: WebDriverAgentRunner-Runner.app (401) encountered an error (Failed to load the test bundle. (Underlying error: The bundle “WebDriverAgentRunner” couldn’t be loaded because it is damaged or missing necessary resources. The bundle is damaged or missing necessary resources. dlopen_preflight(/var/containers/Bundle/Application/8E2FE945-0283-4FC9-9EE1-882E297CBF43/WebDriverAgentRunner-Runner.app/PlugIns/WebDriverAgentRunner.xctest/WebDriverAgentRunner): no suitable image found. Did find: /var/containers/Bundle/Application/8E2FE945-0283-4FC9-9EE1-882E297CBF43/WebDriverAgentRunner-Runner.app/PlugIns/WebDriverAgentRunner.xctest/WebDriverAgentRunner: code signature invalid for '/var/containers/Bundle/Application/8E2FE945-0283-4FC9-9EE1-882E297CBF43/WebDriverAgentRunner-Runner.app/PlugIns/WebDriverAgentRunner.xctest/WebDriverAgentRunner' ))