I was able to get the simulators to show up after manually launching the Simulator app (and making sure that I had simulators/platforms installed). After I manually launched the Simulator app, and opened a couple of the simulators, I rebooted. Then all of my installed simulators showed up in Safari.
With that said, the removing of the device views is a huge step backwards. Make sure that you send feedback about this... Here is mine. I am not sure if you can see it or not. https://feedbackassistant.apple.com/feedback/13225118
Topic:
Safari & Web
SubTopic:
General
Tags: