iMessage notifications clearing automatically while driving

I drive a Nissan rogue, not with Apple CarPlay. The way it used to be is when a text message come through. I would have the option through my car stereo to read the message aloud or ignore it. If I ignored it, would still keep the notification badge on iMessage and not clear it away. If I read it over the car stereo, the notification badge would go away. Over the past few months or more, whenever a message comes through whether it’s read, ignored or I don’t do anything, When I stop driving and look at my phone, there is no notification badge on iMessage. Meaning that I won’t remember that I have a message waiting for me when I’m done driving. I have a synced and resent to my phone and deleted my saved phone from the car list of Bluetooth devices. Any suggestions?

and to be clear, I don’t have any sort of driving focus or anything like that activated.