iOS 13 WiFi Sync location
After iOS 13 and Mac OS Catalina, it seems that Apple needs to introduce a helper utility to pair the device.

I’m an iOS developer and we use Xcode’s built in utility to pair and unpair devices.

Sometimes the device doesn’t get automatically connected so we have to connect it via a fixed IP address. 

Open Xcode (can be downloaded free)
Open devices and simulators
Connect via IP


More details can be found here.