I resolved this error.
The root reason is that Xcode 12 does not allow build arm64 architecture for Simulator. We should set x86_64 for Simulator building.
- Set “Build Active Architecture Only” to “YES” in target Build Settings tab;
- Set x86_64 for Simulator:
For more answers: Xcode 12, building for iOS Simulator, but linking in object file built for iOS, for architecture arm64