On my Galaxy Watch 7, workouts minimize to a tray icon on the bottom of the watch face if they're ongoing. On my Galaxy Watch 5, they don't, and in order to get to an in-progress workout, I have to navigate back to the workout tile or health app and click into the workout. I have it set to do always-on screen during the workout type. Although for my GW7, I would get the tray icon whether or not that setting is set. Is this a known issue?
Try making sure notifications are on for the health app on the watch (not just phone version): watch settings > notifications > app notifications > toggle the watch and phone samsung health apps for notifications on. If this didn't work, maybe try watch settings > advanced features > toggle "show ongoing icon" on. But that only says for music, so I'm not sure...
