Not sure if this still could be an issue for someone, but today I'm faced with it.

Xcode - 16.2, iPad Air 11-inch (M3), iOS 18.6.2

What worked for me:
- Settings > Components > "Other Components" (just scroll down a bit)
- check for the “Device Support”
- download if available
- relaunch Xcode and Install updates

After that iPad connected without any issue