Developing XCode on macOS

To start, download XCode and create a new app from the template, then create a development team and create a test identifier, and then trust it on your iPad under Settings > General > Device Management > Apple Development and then click the button Trust "Apple Development: ...".

Your example app will then build and you can disconnect the USB to share it wirelessly with the device.

If you use ethernet then you won't be able to connect to the device over Wi-Fi unless you give its IP address...