diff --git a/lib/webdriveragent.js b/lib/webdriveragent.js
index a80909954..0d3a60188 100644
--- a/lib/webdriveragent.js
+++ b/lib/webdriveragent.js
@@ -1,3 +1,4 @@
+import { waitForCondition } from 'asyncbox';
 import _ from 'lodash';
 import path from 'path';
 import url from 'url';
@@ -66,6 +67,7 @@ class WebDriverAgent {
 
     this.updatedWDABundleId = args.updatedWDABundleId;
 
+    this.wdaLaunchTimeout = args.wdaLaunchTimeout || WDA_LAUNCH_TIMEOUT;
     this.usePreinstalledWDA = args.usePreinstalledWDA;
     this.xctestApiClient = null;
 
@@ -87,7 +89,7 @@ class WebDriverAgent {
         useSimpleBuildTest: args.useSimpleBuildTest,
         usePrebuiltWDA: args.usePrebuiltWDA,
         updatedWDABundleId: this.updatedWDABundleId,
-        launchTimeout: args.wdaLaunchTimeout || WDA_LAUNCH_TIMEOUT,
+        launchTimeout: this.wdaLaunchTimeout,
         wdaRemotePort: this.wdaRemotePort,
         useXctestrunFile: this.useXctestrunFile,
         derivedDataPath: args.derivedDataPath,
@@ -184,7 +186,6 @@ class WebDriverAgent {
    * }
    *
    * @return {Promise<any?>} State Object
-   * @throws {Error} If there was invalid response code or body
    */
   async getStatus () {
     const noSessionProxy = new NoSessionProxy({
@@ -287,6 +288,73 @@ class WebDriverAgent {
     }
   }
 
+
+  /**
+   * @typedef {Object} LaunchWdaViaDeviceCtlOptions
+   * @property {Record<string, string|number>} [env] environment variables for the launching WDA process
+   */
+
+  /**
+   * Launch WDA with preinstalled package with 'xcrun devicectl device process launch'.
+   * The WDA package must be prepared properly like published via
+   * https://github.com/appium/WebDriverAgent/releases
+   * with proper sign for this case.
+   *
+   * When we implement launching XCTest service via appium-ios-device,
+   * this implementation can be replaced with it.
+   *
+   * @param {LaunchWdaViaDeviceCtlOptions} [opts={}] launching WDA with devicectl command options.
+   * @return {Promise<void>}
+   */
+  async _launchViaDevicectl(opts = {}) {
+    // FIXME: use appium-xcuitest-driver's Devicectl. Maybe it needs to be included in the `this.device`?
+    //
+
+    const {env} = opts;
+
+    let xcrunBinnaryPath;
+    try {
+      xcrunBinnaryPath = await fs.which('xcrun');
+    } catch (e) {
+      throw new Error(
+        `xcrun has not been found in PATH. ` +
+          `Please make sure XCode development tools are installed`,
+      );
+    }
+
+    const cmd = [
+      'devicectl',
+      'device',
+      'process',
+      'launch',
+      `--device`, this.device.udid,
+      '--terminate-existing'
+    ];
+    if (!_.isEmpty(env)) {
+      cmd.push('--environment-variables', JSON.stringify(_.mapValues(env, (v) => _.toString(v))));
+    };
+    cmd.push(this.bundleIdForXctest);
+
+    const {stdout} = await exec(xcrunBinnaryPath, cmd);
+    this.log.debug(`The output of devicectl command: ${stdout}`);
+
+    // Launching app via decictl does not wait for the app start.
+    // We should wait for the app start by ourselves.
+    try {
+      await waitForCondition(async () => !_.isNull(await this.getStatus()), {
+        waitMs: this.wdaLaunchTimeout,
+        intervalMs: 300,
+      });
+
+    } catch (err) {
+      throw new Error(
+        `Failed to start the preinstalled WebDriverAgent in ${this.wdaLaunchTimeout} ms. ` +
+        `The WebDriverAgent might not be properly built or the device might be locked. ` +
+        'appium:wdaLaunchTimeout capability modifies the timeout.'
+      );
+    }
+  }
+
   /**
    * Launch WDA with preinstalled package without xcodebuild.
    * @param {string} sessionId Launch WDA and establish the session with this sessionId
@@ -302,8 +370,15 @@ class WebDriverAgent {
     }
     this.log.info('Launching WebDriverAgent on the device without xcodebuild');
     if (this.isRealDevice) {
-      this.xctestApiClient = new Xctest(this.device.udid, this.bundleIdForXctest, null, {env: xctestEnv});
-      await this.xctestApiClient.start();
+      // Current method to launch WDA process can be done via 'xcrun devicectl',
+      // but it has limitation about the WDA preinstalled package.
+      // https://github.com/appium/appium/issues/19206#issuecomment-2014182674
+      if (util.compareVersions(this.platformVersion, '>=', '17.0')) {
+        await this._launchViaDevicectl({env: xctestEnv});
+      } else {
+        this.xctestApiClient = new Xctest(this.device.udid, this.bundleIdForXctest, null, {env: xctestEnv});
+        await this.xctestApiClient.start();
+      }
     } else {
       await this.device.simctl.exec('launch', {
         args: [