Here’s a few things you could try:
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Make sure you don’t have any rogue Appium processes running in the background (see the bottom part of this post): Troubleshooting Exceptions on Mobile - (Appium 1.8.1 is Recommended)
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Quit Katalon, the iOS simulators, and your machine - sometimes this can help to free up any processes
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Make sure you have the WebDriverAgent project installed and that you can communicate with it: https://docs.katalon.com/katalon-studio/docs/installing-webdriveragent-for-ios-devices.html
Hope this helps,
Chris