How to delete an app from iOS Xcode Simulator?
Open the Simulator.
Find the "Hardware" tab on the tool view.
Undo "Touch Pressure & Use TrackPad Force".
I struggled with this too for a while until I figured it out. I'm surprised at how hard it is to find information about this...
As you mentioned, this is only an issue when using a trackpad that supports Force Click. @pingkai.tse's answer is a good one, but for me turning off "Use TrackPad Force" does not persist - I have to turn it off every time I restart the simulator.
The trick is to click without triggering a Force Click gesture. It's hard at first, but after some practice you'll get the hang of it. On the trackpad, click very lightly on the app and hold long enough to trigger the long press. While holding, if you see the text starting to blur you are applying too much pressure and are instead triggering a Force Click.
For iOS 11+ simulator you should long press the app icon :)
For iOS 13+ simulator you can long press the app icon. When "Rearrange apps" suggestion appears you can tap on it or continue holding the mouse button until its automatically applied
Before iOS 11: hold alt, then press the touch pad.