iOS devices can only be connected to one other device (PC or accessory) at once. I am currently developing a MFI accessory, and I can't access the debugger while working on the accessory because the iPhone is already connected to the accessory. Does anyone have any experience with such a problem? It is really hard to debug without the debugger.
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As of Xcode 9 and iOS 11, remote debugging is supported. You can run and debug an app from Xcode with any pre-configured device on your network. Choose "Connect via network" in the Devices and Simulators window and it should work.
See How do you perform wireless debugging in Xcode 9 with iOS 11, Apple TV 4K, etc? for details.

natevw
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1And, it might be added, this feature is explicitly touted by Apple as solving _exactly_ the problem the OP posed. – matt Feb 14 '18 at 01:57