try to follow this: https://github.com/appium/appium-xcuitest-driver/blob/master/docs/wda-custom-server.md#wda-setup (deprecated)
new link: https://appium.readthedocs.io/en/latest/en/advanced-concepts/wda-custom-server/#:~:text=In%20order%20to,the%20main%20menu
or if you prefer video: [XCUITest] xcodebuild exited with code '65' and signal 'null'
- make sure you use WebDriverAgentRunner