This is also happening to me. It is specific only to Apple Music and Apple Podcasts. I have tried every suggestion on this forum and have found nothing fixes it. For me it is with headphones or audio in. I keep installing the latest updates to fix it and it hasn't helped. It does not happen with any other app. It happens with every song change, and randomly during a podcast, I watched it and it happened every 20 seconds at one stage.
Let me be explicity clear: this feature is dangerous.
I use my phone to play music in my car, I put my phone on Do Not Disturb when I drive and it happens while my Do Not Disturb function is on. This means it catches the corner of my eye while I'm driving. I can turn my phone around, but I keep it in a hand-free holder in case anyone rings me in an emergency - I can see it to pull over and answer. Instead, my phone lights up every 3 minutes or more, again while Do Not Disturb is on. I cannot see how this is remotely safe or why this is required.
It doesn't seem like a big since it seems to be programmed to occur with every song change, but how it happens in the Podcast app is definitely a bug.