iOS 13.4 simulator Capture Cursor issue

I had some success by plugging in a USB Keyboard (which was a pain bc I had to rummage for an adapter dongle too), and could use the escape key on that keyboard (I had to hold it for 3 seconds).

It seems that my Late 2016 MacBook Pro touchbar freezes entirely while the simulator captures my cursor.

Connecting another keyboard and pressing ESC on that one worked for me.

It turns out that the easiest way is to just close and reopen the lid.

Triple clicking the touch ID button to open the accessibility option dialog, and clicking on Keyboard Shortcuts or Preferences... at the bottom of the dialog will escape from the simulator.