The iOS 14 SDK is only supported with Xcode 12.
If you want to use the iOS 14 Simulator Runtime from Xcode 11, the easiest way is to launch Simulator.app from Xcode 12 and boot the simulator device you want from within Simulator.app. It will then appear as a run destination in your older Xcode.
Restart your Mac, this is what caused them to appear for me
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