After a significant amount of time digging through online forums, I found a fix that works for me.
You must have the following settings in the "Build Settings"
in "Deployment" section, you must have "Deployment Postprocessing" == NO for debug builds and YES for release builds
in "Signing" section, you must have "Code Signing Inject Base Entitlements" == YES for debug and NO for release builds.
Most of the online help fail to mention the DEPLOYMENT_POSTPROCESSING part. I have no idea how it got reset to the wrong values, it is not something I recall ever changing, but that is what was wrong with my configuration. Once I changed those 2 values to be correct, I am able to attach the debugger to the simulator and debug my apps again.