Update: Xcode 11.1 has since been released and resolved this issue, if you need to use 11.0 check the accepted answer.
After upgrading to iOS 13.1 I am unable to install onto my device with the following error.
running iOS 13.1 (17A844), which may not be supported by this version of Xcode.
I am aware that I need the 13.1 device support folder however Xcode 11.1 has not been released. I downloaded Xcode 11 from developer/downloads.
As a temporary measure until Xcode 11.1 is released, this git repository has new and old device support files including 13.1!
https://github.com/iGhibli/iOS-DeviceSupport
Xcode 11.1 has since been released which contains the 13.1 folder.