Spotify on WearOS not launching Spotify on connected phone

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I have a Samsung Galaxy Watch 5 and a Pixel Watch. Both are running WearOS 3.5. Each one is connected to different phones.

When I launch Spotify from either of my WearOS watches, it won't launch the phone app. I have to get my phone out and launch Spotify on my phone before I can use my watch to control Spotify on my phone.

I never have this problem with my Apple Watch. I can launch Spotify with my Apple Watch and it causes Spotify on my iPhone to launch.