`xcrun simctl delete unavailable` will delete unavailable simulators. `xcrun simctl list` and `xcrun simctl delete <device-uuid>` will delete specific devices. I run unavailable all the time after updating to get disk space back.
`xcrun simctl runtime list` and `xcrun simctl runtime delete <runtime-uuid>` will clean up actual runtimes.
`xcrun simctl runtime list` and `xcrun simctl runtime delete <runtime-uuid>` will clean up actual runtimes.