How to sync Samsung watch data with iPhone health and accurately track steps

I have downloaded the Samsung health app as well as the Samsung galaxy watch app and I would like to know why my steps on my watch are not synced and the same as the steps on my iPhone? My watch steps are accurate as I always have it on and my phone isn’t always with me how do I make sure my steps measured by my Samsung smartwatch transfer/sync with my iPhone health app? Samsung health is already added under Data Access and Devices in Health settings and I have already enabled Steps and Walking + running distance however my watch steps still aren’t being updated on the health app and my steps are being captured less than what they are