Elements have to migrated from UIA to XCUI elements
Inorder to run appium on 1.6.0 beta 1 for ios 10 and xcode 8
use below settings
[caps]
platformName = "iOS"
orientation = "PORTRAIT"
platformVersion = "10.0"
deviceName ="iPhone Simulator"
noReset = "false"
automationName = "xcuitest"
appiumVersion = "1.6.0-beta1"
app="<app_path>/<app_name>.app"
[appium_lib]
Installation
npm uninstall appium
npm install appium@1.6.0-beta1
npm install -g appium-xcuitest-driver
brew install carthage
Install carthage dependency manager
Error : Fetching dependencies\nPlease make sure that you have Carthage installed (https://github.com/Carthage/Carthage)\nNote: We are expecting that carthage installed in /usr/local/bin/\n',
Solution : brew install carthage

Xcode 8 Installation :
download xcode
unzip the xcode file
Rename old /Applications/Xcode.app to /Applications/Xcode7.app(incase you still want to keep it)
Drag new Xcode app to /Applications/Xcode.app
Open Xcode and install it
Other fixes:
If you encounter issues check here - https://github.com/appium/appium/issues/6853
I had to manually run bootstrap as mentioned in above link
cd ~/.npm-global/lib/node_modules/appium-xcuitest-driver/WebDriverAgent
sh Scripts/bootstrap.sh
To Properly install node check this link - https://github.com/sindresorhus/guides/blob/master/npm-global-without-sudo.md
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