Now it's 2025 and VS 17.12.4, but I still get this error. After hours I've seen that VS loses the setting "Xcode path" in Tools > Options > Xamarin > iOS Settings on VS application close.

This must be set to /Applications/Xcode.app

Then tried to pair again. This time the error "The Xcode license status couldn't be verified because Xcode has not been found on the default location of the connected Mac..." does not happen and the connection was successful.

So the Xcode path must be entered each time VS is started.

Maybe this helps someone.