com.apple.product-type.tool (Xcode 12.4 tested)

How to install it

$git clone https://github.com/yarshure/com.apple.product-type.tool.git
$cp /Applications/Xcode.app/Contents/PlugIns/IDEiOSSupportCore.ideplugin/Contents/Resources/Embedded-Device.xcspec  /Applications/Xcode.app/Contents/PlugIns/IDEiOSSupportCore.ideplugin/Contents/Resources/Embedded-Device.xcspec.orig
$cp Embedded-Device.xcspec /Applications/Xcode.app/Contents/PlugIns/IDEiOSSupportCore.ideplugin/Contents/Resources/Embedded-Device.xcspec

for Xcode-Beta (13.0 B1 tested)
$cp /Applications/Xcode-beta.app/Contents/PlugIns/IDEiOSSupportCore.ideplugin/Contents/Resources/Embedded-Device.xcspec  /Applications/Xcode-beta.app/Contents/PlugIns/IDEiOSSupportCore.ideplugin/Contents/Resources/Embedded-Device.xcspec.orig
$cp Embedded-Device.xcspec /Applications/Xcode-beta.app/Contents/PlugIns/IDEiOSSupportCore.ideplugin/Contents/Resources/Embedded-Device.xcspec

Enjoy it

build/codesign and scp to iDevice

reference

how to Make iOS cmd tools

How to build an iOS command line tool with Xcode 9.3