I haven't had the problem you describe. My watch syncs all workouts with my iPhone Fitness app, regardless if the app is open or not.
I actually ended up returning my Apple Watch 6, and instead got an Apple Watch 6 Nike edition. The biggest differences are the addition of Nike watch faces, which are better integrated to sync with the phone. Also, I had a fabric watch band, and the Nike sport bands fit MUCH better. They tend to keep the watch more stabilized and closer to your skin.
Since my Nike watch, things have been a bit better, but what's mystifying is when my WATCH catches enough heart rate data to display a chart, but that same workout on the iPhone Fitness app shows "chart unavailable."
Something else you may try is to unpair your watch, and then set it up as a NEW watch, with only minimal apps. If any of your watch apps are corrupted, restoring from a backup won't help you. I believe there are watch apps out there (like Heartwatch) that interfere with proper operation of heart rate monitoring.
I will be using the Feedback Assistant app on my Mac to submit a bug report for the iPhone Fitness app. Using this method to report a problem is your best chance of getting usable details into Apple programmers' hands, and actually getting something fixed.