I have stumbled upon what I think is a reliable workaround for the time being (at least it is working on my iPad Mini 2nd gen). Try this.
XCode Version 7.0 beta (7A120f)
1. On the 2nd run of your app in XCode, which would normally freeze the device, put your finger anywhere on the iPad's screen before hitting Run in Xcode.
2. While your app is compiling, keep your finger on the screen and slide around continously, never letting your finger off the screen, even though it will hang a little bit, keep sliding around. Keep doing this until your app would normally launch on the device, then take your finger off the screen.
3. The app should launch now as normal.
4. Rinse and repeat for each successive build.
Not sure why this is working, perhaps for some reason the device doesn't freeze as long as it's receiving touch events? I'm now able to run the app consistently without freezing up and having to hard reset the device.
Hopefully this helps someone else out there get some work done without the irritating freeze and reboot cycle slowing you down considerably, maybe even save a few devices from being thrown out the window in frustration. 😉