TL;DR: Heap buffer overflow in the network stack allowed for sending ICMP packets that would crash devices. Bug was marked as "RCE" because it's possible that it could be used for code execution, though the current PoC only causes a crash. Bug has been reported to Apple and fixed in iOS 12 and macOS Mojave 10.14. There's an excellent drawing by the author at the end of the author summarizing the exploit ;) As an asid…
Presumably, internally to Apple, XNU is built mostly on build-servers. Maybe even the branches having CI build-on-push, and test machines able to PXE-boot directly to a given branch's tip build. In such a case, you'd never need XCode to successfully build a standalone XNU at all.
That's something practically every linux kernel dev does, but surely every time a XNU dev wants to add a single debug print statement, they'll go through the whole CI system before being able to run it.