Solved: I'm not sure what exactly fixed the issue but I updated a bunch of settings. There were some Xcode warnings recommending updating project settings that auto-updated a variety of settings. I also updated the project format of each target to Xcode 12-compatible and updated the target build version to iOS 13. I also updated to Xcode 12.1 (though this alone did not fix the problem).

Update: I can run on my device but not on a simulator