appium: WDA issue with iOS 13.3.1 - fails with error code 65

The problem

After updating my iOS devices to 13.3.1, WebDriverAgentRunner is not launching during tests and throws. Same setup works with iOS 13.3.

Environment

• Appium version (or git revision) that exhibits the issue: 1.16.0 (also in 1.15.1/1.15.0)
• Last Appium version that did not exhibit the issue (if applicable):
• Desktop OS/version used to run Appium: MacOS Mojave 10.14.6
• Node.js version (unless using Appium.app|exe):v12.8.1
• Npm or Yarn package manager: npm
• Mobile platform/version under test: iOS 13.3.1
• Real device or emulator/simulator: Real device
• Appium CLI or Appium.app|exe: CLI

Details

Test for WDA also fails when done through terminal using xcodebuild -project WebDriverAgent.xcodeproj -scheme WebDriverAgentRunner -destination 'id=<udid>' test.

Testing failed: WebDriverAgentRunner: WebDriverAgentRunner-Runner.app (401) encountered an error (Failed to load the test bundle. (Underlying error: The bundle “WebDriverAgentRunner” couldn’t be loaded because it is damaged or missing necessary resources. The bundle is damaged or missing necessary resources. dlopen_preflight(/var/containers/Bundle/Application/8E2FE945-0283-4FC9-9EE1-882E297CBF43/WebDriverAgentRunner-Runner.app/PlugIns/WebDriverAgentRunner.xctest/WebDriverAgentRunner): no suitable image found. Did find: /var/containers/Bundle/Application/8E2FE945-0283-4FC9-9EE1-882E297CBF43/WebDriverAgentRunner-Runner.app/PlugIns/WebDriverAgentRunner.xctest/WebDriverAgentRunner: code signature invalid for '/var/containers/Bundle/Application/8E2FE945-0283-4FC9-9EE1-882E297CBF43/WebDriverAgentRunner-Runner.app/PlugIns/WebDriverAgentRunner.xctest/WebDriverAgentRunner' ))

Link to Appium logs

https://gist.github.com/tusharwgames/8e6b43b7620de6cafce82c9c06242966