DND while driving is only available in Focus?

In the previous IOS, I loved having the option to turn “DND while driving” on and off by swiping down in the control center. While I can turn it on and off in the focus feature, when I turn it off and back on again it doesn’t automatically turn back off when I’ve stopped driving. For example I pulled over briefly and turned off the “DND while driving” to check the traffic for the route I was about to take. I then turned it back on and when I arrived at my destination despite disconnecting from the car’s Bluetooth the “DND while driving” stayed on. I didn’t even realize it until I had been at work already for two or three hours. During that time all my texts were getting my driving message and wondered where I had been driving to for the past 2+hours. Is there any way to fix this?