Me too I've the same problem. latest version of Xcode 13.1, macOS Monterey 12.5, and iPhone XS iOS 15.6. it's months trying to update, to restart, connect and disconnect to solve but ever the same "Unable to prepare PB_iPhone for development"....

SOLVED!!! It's matter of missing Provisioning Profiles in Developer Area. See Certificates, Identifiers and Profiles.