I have the same problem and had not been able to resolve it. When I connect the very same iPhone with the same cable, through a USB 3.0 hub connected to the MacBook the iPhone gets connected instantly without any issues.

I have the same problem, and had not been able to resolve it. When I connect the very same iPhone, with the same cable, but trough a USB 3.0 hub connected to the Macbook, the iPhone gets instantly connected without any issues.