I was able to resolve the issue running xcrun simctl erase all in Terminal.
xcrun simctl erase all
Quit Xcode.app, Simulator.app, etc
Try the following commands in Terminal
sudo killall -9 com.apple.CoreSimulator.CoreSimulatorService rm -rf ~/Library/*/CoreSimulator
Go to Xcode menu Window-> Devices and Simulators -> Simulators tab, right-click the bad simulator and choose Delete from the menu list, then add it back from the left bottom entry again, it works!
Window
Devices and Simulators
Simulators
Delete
