How to set a seen notification to go away on wrist down?

When I get a notification on my watch and raise my wrist to look at it, I lose access to the watch face and all new notifications, until I manually dismiss the notification. So, If I get a message and look at it, all I see is that notification every time I raise my wrist.

I tried setting General > Return to Clock to Always, but it doesn't work for notifications.

Is there a way to have notifications be dismissed without using the other hand? This is really annoying, since I then can't do anything except look at that same notification until I tap dismiss. Even if a new notification comes.

I saw an old question about the same thing, but from 4 years ago and the resolution was to use a setting that is removed in the meantime (General > Wake Screen).