On Notify app there is a new feature Resend missed notification, it will automatically resend the last missed notification to your watch when connection with your phone get re-established.
This is a great way to never miss any notification, especially for those of us who are always on the go and have our phone far away from watch bluetooth range.
You can set up Notify app to automatically resend last missed notification to your watch when your watch get reconnected with your phone.