Following the documentation here also did not work for me. https://developer.apple.com/documentation/xcode/creating-your-app-icon-using-icon-composer#Add-your-Icon-Composer-file-to-an-Xcode-project
What worked for me was the following:
In Icon Composer, select File -> Export...
For "Appearance", select "All", then click "Export..."
Select a location and click "Export" to save
Navigate to the location you saved, there should be 6 .png files.
Select the three you will use for AppIcon from assets for Any Appearance, Dark, and Tinted options. Open those in Preview
In Preview for each image, select File -> Export...
Be sure to uncheck the "Alpha" setting and save the file.
Use the newly exported images for your three AppIcon settings in Assets.
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Developer Tools & Services
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Instruments
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