TLDR: The phone's driver is buggy.
I got it works on both Ubuntu / macOS (real machine) and macOS (on VMWare Workstation - Windows 10). Trust me, even if you choose the correct driver, Cydia Impactor seems to work, but Frida doesn't. My friend has to reinstall Windows, force it to automatically install driver itself in order to make Frida works. Not promissing.
Yesterday, I installed macOS on VMWare, it works perfectly.