Multiple devices simultaneously
To run the same app in multiple devices simultaneously you need to run multiple Appium servers. When you launch the server give the UDID and port what Appium listens (this port must be different for each server instance).
From the doc
Support for automating multiple devices simultaneously: Yes, though Appium must be started using different ports for the server parameters --port, --bootstrap-port (or --selendroid-port) and/or --chromedriver-port. See the server args doc for more information
When you have one server running for each device use the ports to run multiple tests simultaneously.
BTW: I haven't tried Selenium Grid and I use only real devices.
Br,
Jarno Tuovinen (spedepekka/mrtuovinen)