I’m also experiencing the exact same issue in the UIDatePicker in dark mode, this is still present in BETA4.
Also for any UITextField in a cell or UISearchController in the toolbar in dark mode, I noticed that the "Cut/Copy/Paste" popover-box shows black text for most of the options, i.e. 'Paste' will be white, but the other options are black, same behavior as the UIDatePicker in the screenshot.
It seems that any gray text is rendered black in dark mode, making it unreadable.