Not much help here, but I've been seeing this intermittently over the last few months also. I only have a handful of public (no private) package dependencies.
EDIT: In fact, I just hit it on the next build after posting this!
xcodebuild: error: Could not resolve package dependencies: failed downloading 'https://github.com/realm/SwiftLint/releases/download/0.57.0/SwiftLintBinary-macos.artifactbundle.zip' which is required by binary target 'SwiftLintBinary': downloadError("The request timed out.") fatalError
Topic:
Developer Tools & Services
SubTopic:
Xcode Cloud
Tags: