Search online for "mac developer could not be" and you'll find some similar messages for other applications.
-> Took me < 1 minute
One workaround was e.g.
Apparently, the workaround is quite painful:
In the Finder on your Mac, locate the app you want to open.
Control-click the app icon, then choose Open from the shortcut menu.
Click Open.
The app is saved as an exception to your security settings, and you can open it in the future by double-clicking it or from cli, just as you can with any authorised app.
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Reason (here by the example of the software Terraform, not Minion, but it should be the same problem):
Indeed the new version of MacOS is stricter about running software you've downloaded that isn't signed with an Apple developer key. Terraform distributions are signed with a HashiCorp key with signatures distributed out of band on releases.hashicorp.com, but MacOS Catalina is requiring participation in Apple's developer program specifically, and Terraform is currently not built to support that.
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So this is not related to Minion alone but to Apple's politics about apps with the Mac OS Catalina versions as it seems.
Apple should rethink there changes imo as there always exists software which is older and not maintained anymore. But that's up to them...