With the iOS simulator version 10, double clicking the home button to bring up multitasking (running apps) sometimes does not respond. Even hitting (cmd + shift + h)x2 to simulate home button double click also works sometimes. I have verified this with a work mate and they have the same issue. I am not sure if this is a bug in the simulator or if there is a setting somewhere on for example the delay between the clicks? The answer from here did not make a difference.
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For the iPad, I have resorted to swiping up from close to the bottom to the centre of the screen to bring up multitasking. A workaround on the iPad for now. – pnizzle Feb 05 '18 at 01:10
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7This constantly happens and they've never fixed it – Tometoyou May 15 '18 at 10:15
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1This is a long-lasting bug. Regardless of whether you use the shortcut, touchbar button or the home button, it just works sporadically. – Jakub Truhlář Aug 15 '19 at 08:49
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2Bug still happening. Xcode 11.3.1. – Allan Feb 09 '20 at 00:26
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I have this problem too when I want to close my app. So, I use command line instead:
xcrun simctl list | grep Booted
then copy simulator ID, and run this command to close app
xcrun simctl terminate <simulator ID> <your app bundle ID>
... or if you have only one simulator running, just type booted
:
xcrun simctl terminate booted <your app bundle ID>

Piyapan Poomsirivilai
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I'm marking this as the correct answer for now, as there seems to be no way to fix the issue. – pnizzle May 16 '18 at 01:55
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I've made such script that contains all my app bundle IDs and some apple apps like Safari and Preferences — very useful, now I have just one click for closing all apps in the simulator. – Pavel Alexeev Sep 28 '18 at 22:29
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1maybe this is too outdated but sadly, trashy simulator STILL has this BUG. Shame on apple that doesn't fix this and a ton of other bugs. No need to restart simulator. TRY THIS: leave ctrl-cmd-H pressed and eventually you'll see App Switcher showing but you have to be quick releasing the keys or App Switcher will disappear and go to Home. – carlos_ms Jul 15 '20 at 15:20
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Enable this setting in the simulator hardware settings.
Hardware > Keyboard > Send Keyboard Shortcuts to Device
Command + Shift + H + H will no longer do anything BUT double tapping the home button on the simulator will start working as expected.

Neil Cuthbert
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7I tried this but the keyboard shortcut still only works about 50% of the time. – Liron Yahdav May 13 '19 at 19:47
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Instead of Command + Shift + H + H, try Shift + Command + H + H. I found out that the order matters – The1993 Apr 16 '21 at 03:31