I managed to get it working on my Intel MBP.
Xcode downloads the Apple Silicon version of codex, but you can replace it with the Universal one (And even a later version).
I had codex CLI installed through brew, and it was installed at /usr/local/Caskroom/codex/0.104.0/codex-x86_64-apple-darwin
I copied this file to /Users/darrenjones/Library/Developer/Xcode/CodingAssistant/Agents/Versions/17C528 and renamed it to codex.
Restarted Xcode, and I could now Sign In through the Xcode settings. Restarted Xcode again, and I could even select the new 5.3 model.