briefly show detailed notification on lock screen when received, like iphone, on OneUI/Samsung

Just bought an s10e, first time moving from ios to android.

What currently happens is, even with always-on display, when i get a notification I hear the beep then it shows a small icon, then i have to double tap the screen to see the notification.

What i would like is for similar behavior to iphone where when you get a notification, the screen will turn on completely for ~10 seconds and you can see it without having to tap on the screen.

Is there a setting or app or tasker routine or whatever (even if it requires me to root the phone) to be able to do this?

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