You get this error if your build destination is set to a Simulator. You need to select either an Actual Device or Generic iOS Device.

I've banged my head on this a couple of time and now add the following comment

    // If the following line fails to compile "Value of type 'ARView' has no member 'session'"    // You need to select a Real Device or Generic iOS Device and not a simulator    arView.session.run(configuration)

If you use iOS Simulator for AR app based on Interface Builder Storyboard or if you use iOS SwiftUI Preview – then you can't implement session-oriented properties and anchoring components for ARView. As you can see there are a lot of errors in this case.

Simulator is chosen in Xcode Active Scheme.

The only way to use session-oriented properties for your AR app is to choose a real iOS or iPadOS device in the Xcode Active Scheme drop-down menu.

Real Apple device is chosen for build.

The same is true for installGestures() method

iOS Simulator:

Real Device:

I managed to eliminate this problem by using conditional compilation.

#if !targetEnvironment(simulator)    return ARView(frame: .zero)#else    return UIView(frame: .zero)#endif

The compilation issues stopped, but I will admit that I still have problems with previews. But I think that is more related to code complexity than to this error.