Banner Notifications Not Clearing After Text Is Read

Appears this has went into effect in one of the iOS updates within the last 6 months ~ possibly iOS 15 (currently on 6.1)

If I do not clear the notifications from my lock screen, but unlock the phone and read/respond to a text message, then swipe down all the text notifications to messages I responded to are still there and have to be manually cleared. Currently the badge/tile notification does clear after messages are read - but that was always linked directly to banners in the notification history.

It used to be the case where once the text was read it would simultaneously be cleared from the notification history, did not even need to respond to it. There is a setting to make banners auto clear but it will clear banners to unread messages if I enable that, right?