I have a similar error (Xcode 14). My watchOS dev has been a nightmare so far, just because of the impossibility of testing.
The app cannot be installed:
This app contains a WatchKit app with an invalid bundle identifier. The bundle identifier of a WatchKit app must have a prefix consisting of the companion app's bundle identifier, followed by a '.'.
iOS app id : com.me.appname
Watch app id : come.me.appname.watchkitapp
Note: Xcode 14 does not create a target watch extension anymore.