Invalid code signature due to inadequate entitlements

The problem is that the developer is not trusted on the device. If you manually try to run the apps on the device, you will see an Untrusted Developer message.

To solve this issue on the device, go to Settings > General > Profiles or Settings > General > Device Management, depending on the device type and the iOS version. There, trust the developer and allow the apps to be run.

For newer versions on your iPhone (version 14+)

Settings > General > Device Management (In the VPN section past Date & Time section). 
Then trust the device

Adding newer settings 2022 iPhone 15 variation. Load the app --> Next as below.

Settings > General > 
VPN & Device Management > Developer App > Trust "Apple Development:....."

Please check the internet connection of the Testing IOS device, Signature verification fails if device isn't connected to Internet.