you can check this: Can't connect Appium inspector to iOS Simulator (65 xcodebuild error message)
looks the same, you have appium version below 2 and xcode version above 14 so probably as he mentioned, upgrading to appium2 solved his issue.
you can try to build it manually as well, 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
And in general, I am sure there are many posts about this exact issue, you can search for them.