I've just fixed this error with signing and provisioning profiles for a free account ( no Apple Development Program).
The solution was to read those error text carefully and understand what it says :-)
The very first error says "change your Bundle Identifier to a unique one". My BI, taken from an Apple online example of first project "Food Tracker" was "example" and looked like "com.example.Food Tracker". So I just changed it to com.example_aziz.Food Tracker (change aziz for yours) and then it automatically generates all free sertificates and have compiled to my iPad connected flawlessly. Also you have have to login to your Apple ID in XCode -> Preferences - > Accounts and check " Automatically manage signing" and select yourself as a team on a General tab of the XCode where it displays errors in red.
Btw, do not apply for Apple Developer Program before you are really ready to pay for it, because this will hide all the help sections with steps to create first app in your account, and you will have to contact support to cancel your enrollment.