For me this worked but not right away. My problem was maybe a bad cable. I plugged it in 10x in different ways and then finally the "allow to connect" window showed up where I accepted the connection. THEN it all worked with the steps

this mentions "Apple Distribution" but this is different from "iOS Distribution". It does not say that there, although this is what OP was asking about. check this section: https://developer.apple.com/account/resources/certificates/add