Search for "error:" to find the actual errors. You will see several errors like this:
error: The signature of “GoogleUtilities.xcframework” cannot be verified.
It means that the signatures included in each framework do not much the content. It is not yet clear what causes it. You can try to delete the firebase frameworks and download it them from Google directly:
https://firebase.google.com/download/ios#integrate-manually (from your Mac). Or download the package again directly to your Mac.
You can also delete all the _CodeSignature folders. At least as a temporal solution.