Camera Remote app on Apple watch closes camera app on iPhone when switching apps on watch

situation I mention in the title seems to happen when starting in these two instances:

1. Phone is locked or
2. Phone is unlocked, I open the camera app and then

I would set it up on a tripod then open the camera remote app on the Apple Watch to preview where I am before starting a video recording or taking a photo. After which, if I go back to the watch face or switch apps on my apple watch momentarily, the camera app on the phone closes.

I have been tripped up by this issue more than once so I was wondering if there was a way to change this behavior.

Especially since this behavior is inconsistent with the other situation where I have the phone locked, and I swipe to the camera from the lock screen. Now I can open the camera remote on the apple watch and go to the watch face or switch apps but the camera app on iPhone will not exit.