Wireless debugging was recently added as a feature in Xcode 9, iOS 11, and tvOS 11. Apple TV 4K doesn't have a USB port, so it requires wireless debugging. How do you perform this wireless debugging in Xcode?
from help.apple.com
NOTE: Mac system and iPhone/iPad should share same network to use wireless debugging.
Debug your app running on an iOS or tvOS device over a WiFi or other network connection.
Note: Network debugging requires Xcode 9.0 or later running on macOS 10.12.4 or later, and on the device, requires iOS 11.0 or later, or tvOS 11.0 or later.
Choose Window > Devices and Simulators, then in the window that appears, click Devices.
Connect your device to your Mac with a Lightning cable.
In the left column, select the device, and in the detail area, select Connect via network.
Xcode pairs with your device. If Xcode can connect with the device using a network, a network icon appears next to the device in the left column.
Disconnect your device.
Note: Device require a passcode to enable remote debugging.
Now you are ready for debugging over the network.
Make sure your Mac and your Apple TV are on the same network.
Choose Window > Devices and Simulators, then in the window that appears, click Devices.
On your Apple TV, open the Settings app and choose Remotes and Devices > Remote App and Devices.
The Apple TV searches for possible devices including the Mac. (If you have any Firewall or Internet security, disable/turn off to allow searching.)
On your Mac, select the Apple TV in the Devices pane. The pane for the Apple TV is displayed and shows the current status of the connection request.
Enter the verification code displayed on your AppleTV into the Device window pane for the device and click Connect.
Xcode sets up the Apple TV for wireless debugging and pairs with the device.
Edit: -------
Sometime pairing doesn't work for wireless debugging, So just restart your device and internet connection. Also if firewall is enabled, you need to turn off Firewall for pairing device.