Worked for me:
rm -rf ~/Library/Developer/Xcode/DerivedData/
rm -rf ~/Library/Caches/CocoaPods/
pod deintegrate
pod update
env:
	 CocoaPods : 1.9.3
				Ruby : ruby 2.6.3p62 (2019-04-16 revision 67580) [universal.x86_64-darwin19]
		RubyGems : 3.0.3
				Host : Mac OS X 10.15.7 (19H2)
			 Xcode : 12.0.1 (12A7300)
				 Git : git version 2.24.3 (Apple Git-128)
Ruby lib dir : /System/Library/Frameworks/Ruby.framework/Versions/2.6/usr/lib
Topic:
Developer Tools & Services
SubTopic:
Xcode
Tags: