This can be also solved by copying/symlinking lib_InternalSwiftSyntaxParser.dylib to /usr/local/lib as an alternative that doesn't require a script to keep derived data up to date.
sudo mkdir -p /usr/local/lib
# sudo cp /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/swift/macosx/lib_InternalSwiftSyntaxParser.dylib /usr/local/lib/