Error: Command 'idevice_id -l' errored out: Error: spawn idevice_id ENOENT

I am facing configuration related error while updating to new Appium and xcode version
current Appium version: 1.8.1
New Appium version : 1.14.0
current xcode version: 9.4.1
New xcode version: 11.2.1
Current iOS version for Simulator (iPhone 8) : 11.4
New iOS version for Simulator (iPhone 8) : 13.2.2

PFB logs for more details:

Error: Command ‘idevice_id -l’ errored out: Error: spawn idevice_id ENOENT

[debug] [XCUITest] Current user: 'apple'
[XCUITest] Error: Command 'idevice_id -l' errored out: Error: spawn idevice_id ENOENT
[XCUITest]     at Process.ChildProcess._handle.onexit (internal/child_process.js:267:19)
[XCUITest]     at onErrorNT (internal/child_process.js:467:16)
[XCUITest]     at processTicksAndRejections (internal/process/task_queues.js:84:21)
[XCUITest]     at ChildProcess.<anonymous> (/usr/local/lib/node_modules/appium/node_modules/teen_process/lib/exec.js:41:14)
[XCUITest]     at ChildProcess.emit (events.js:321:20)
[XCUITest]     at Process.ChildProcess._handle.onexit (internal/child_process.js:273:12)
[XCUITest]     at onErrorNT (internal/child_process.js:467:16)
[XCUITest]     at processTicksAndRejections (internal/process/task_queues.js:84:21)
[debug] [BaseDriver] Event 'newSessionStarted' logged at 1580968421757 (11:23:41 GMT+0530 (India Standard Time))
[debug] [W3C] Encountered internal error running command: Error: Command 'idevice_id -l' errored out: Error: spawn idevice_id ENOENT
[debug] [W3C]     at Process.ChildProcess._handle.onexit (internal/child_process.js:267:19)
[debug] [W3C]     at onErrorNT (internal/child_process.js:467:16)
[debug] [W3C]     at processTicksAndRejections (internal/process/task_queues.js:84:21)
[debug] [W3C]     at ChildProcess.<anonymous> (/usr/local/lib/node_modules/appium/node_modules/teen_process/lib/exec.js:41:14)
[debug] [W3C]     at ChildProcess.emit (events.js:321:20)
[debug] [W3C]     at Process.ChildProcess._handle.onexit (internal/child_process.js:273:12)
[debug] [W3C]     at onErrorNT (internal/child_process.js:467:16)
[debug] [W3C]     at processTicksAndRejections (internal/process/task_queues.js:84:21)
[HTTP] <-- POST /wd/hub/session 500 514 ms - 1043

@Aleksei @mykola-mokhnach any help is highly appropriated.

Note: 1 - xcodebuild - WebDriverAgent.xdoceproj - scheme WebDriverAgentRunner - destination 'id=XXXXXXXX-XXXX-XXXX-XXXXX-XXXXXXXXXXXXX’ test command is not executed during last step of set up process. (as i redo the appium set up process from scratch)

Note: 2. I have currently 2 xcode projects in my Application folder
1 - Xcode 9.4.1 (named as Xcode 9.4.1)
2 - Xcode 11.2.1 (named as Xcode)

i also tried to fix it by runnning ‘brew install libimobiledevice --HEAD’ mentioned in
#8031 , it didn’t worked for me also.

Though i am able to run my test using Appium Desktop v1.15.1

Thanks in advance.
Abhishek