I am on the latest public beta and did a preferences search for Universal Control. It came up, I launched it, and it could see my 2nd Gen iPad Pro (running 15.0.1 at the time. Couldn’t see my new iPad mini though). It connected and launched Universal Control on the iPad. It realigned my displays (was running an LG 5k on USB-C) and I could move the mouse across them, but it threw an error when I tried to rearrange the displays. The Universal Control app stayed up on the iPad with a black screen.