diff --git a/lib/driver.js b/lib/driver.js
index 010771f38..3573ad2a7 100644
--- a/lib/driver.js
+++ b/lib/driver.js
@@ -1221,8 +1221,10 @@ class XCUITestDriver extends BaseDriver {
           return {device, realDevice: false, udid: device.udid};
         }
       } else {
-        if (this.skipDeviceCheck()) {
-          this.log.info(`Skipping connected device check. Using the given udid ${this.opts.udid}.`);
+        // If the session specified this.opts.webDriverAgentUrl with a real device,
+        // we can assume the user prepared the device properly already.
+        if (this.opts.webDriverAgentUrl) {
+          this.logs.debug('Skipping checking of the device availability since the session specifies appium:webDriverAgentUrl');
         } else {
           // make sure it is a connected device. If not, the udid passed in is invalid
           const devices = await getConnectedDevices();