idevicerestore
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Failed entering restore mode on MacBook Pro M1 2020
Just like this.
Another person had faced this problem, but addressed it via a clean compiled version on a Debian LiveUSB. However, I don't want to flash my machine in this way. It was such a complicated thing.
For me the cause was older per-installed usbmuxd version, check which version of usbmuxd is running
$ systemctl status usbmuxd
if it has usbmuxd v1.1.1 starting up then it's probably old version,
my compiled version shows: usbmuxd 1.1.1-69-g523f700
Checked twice now that it's working for me.