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Notifications - not clearing

I receive notifications usually without any problem (but not 100% of the time!), whether text, WhatsApp or phone calls.

Text and WhatsApp notifications display for a minute or so and then clear from the screen to return to the watchface, leaving just a notification icon.

However, telephone calls do not. Call notifications are persistent - displaying the caller's name and 3 icons - red phone, green phone & blue message. These do not clear at all, unless I press the red phone icon.

Any idea why? Is there a setting I'm missing? I would prefer the notification display cleared and returned to the watchface, just like texts etc.