Getting this error when trying to execute the iOS test cases

Getting this error when trying to execute the iOS test cases.Any solutions how to fix this error.

“An unknown server-side error occurred while processing the command. Original error: Unable to launch WebDriverAgent because of xcodebuild failure: iproxy exited with code ‘234’. Try to remove the WebDriverAgentRunner application from the device if it is installed and reboot the device.”

Xcode :12
OS version : Catlina
Appium version : 1.15.1