Apple Watch series 6
How can I make my watch vibrate when receiving a notification?
(Tried everything in app and on watch settings)
Apple Watch Series 6, watchOS 7
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Yes absolutely! Check out the right settings in here:
Change the audio and notification settings on your Apple Watch - Apple Support
If still not working, try toggling Haptic Alerts OFF and then back ON. Sometimes that kind of extra trigger action is required in order to to persist the right setting.