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

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