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I am experiencing exactly the same issue. Got in touch with Apple Support and these are the steps they asked mento go through. And no, I am not resetting my watch to factory default as they suggest, given there is so many people with this issue I believe this is a bug:

Thanks for following up. Let’s try restarting the device to see if it persists. You can learn how to restart your watch here: https://s.apple.com/dE0i7u2i


Thank you for going through that step, and letting us know the results. Next we’ll want to unpair your Apple Watch, then set it up again to see if the issue remains. Here’s how, just in case: https://s.apple.com/dE0b1d2i8T

Let us know if you have questions along the way, and keep us posted on the results.

After this, I told them about this thread and I stopped
 
I am experiencing exactly the same issue. Got in touch with Apple Support and these are the steps they asked mento go through. And no, I am not resetting my watch to factory default as they suggest, given there is so many people with this issue I believe this is a bug:

Thanks for following up. Let’s try restarting the device to see if it persists. You can learn how to restart your watch here: https://s.apple.com/dE0i7u2i


Thank you for going through that step, and letting us know the results. Next we’ll want to unpair your Apple Watch, then set it up again to see if the issue remains. Here’s how, just in case: https://s.apple.com/dE0b1d2i8T

Let us know if you have questions along the way, and keep us posted on the results.

After this, I told them about this thread and I stopped

I have reset my watch and set it up as a new watch, not restoring a backup. Problem still happens. For now have turned on Raise To Wake and dealing with battery drain. So far battery has not died on me all the way.
 
Last night I reset one of my watches again. Once it came back, it seems to be much better. Some other issues with the Breathing app are even gone. So I reset the other watch and it is working much better too.

Both watches were already running 6.0.1. But I guess any issues remained after upgrading from 6.0.0 to 6.0.1. So a reset cleared the issues and got it running better.
 
This is how you report issues to Apple for public releases. For Betas, there is allegedly a way within the beta to report the feedback.

Thanks for the link! I reported issue to Apple this morning, perhaps we can get it on their radar.
 
On my series 5 the lag when waking up the AOD with a tap seems also to be fixed on watchOS 6.1. This was my only complaint, so I am happy. :)
 
Update 6.1 last night and so far it work so much better. Can finally wake up 1st tap immediately. Back like watchOS 5.
 
S4 updated Tues. mid-afternoon & a definite improvement so I'll call it GTG re. this issue.
 
Mine fixed too! WatchOS 6.1 did the trick. I am angry at Apple that no one at support told me this was a known issue and was being addressed. Instead they tried me to reset the watch and set it up again.
 
WatchOS 6.1 is still causing this issue on my AW4. Sometimes when I get a notification and I raise my wrist, screen comes on but image is blurred and notification info doesn't show up and watch is unresponsive to buttons/taps. Happens about 5-10% of the time.

I bought my AW4 on day 1 and only started experiencing this issue after installing WatchOS 6.0. I have also tried resetting the watch and setting up as new.
 
WatchOS 6.1 is still causing this issue on my AW4. Sometimes when I get a notification and I raise my wrist, screen comes on but image is blurred and notification info doesn't show up and watch is unresponsive to buttons/taps. Happens about 5-10% of the time.

I bought my AW4 on day 1 and only started experiencing this issue after installing WatchOS 6.0. I have also tried resetting the watch and setting up as new.
I had to set up my watch as new and that’s fixed it. Annoying but at least it’s working now!
 
Watch OS 6.1 was released exactly one month ago, and still my Apple Watch Series 3 more often than not refuses to wake on tap—no matter how many times I tap it. For a little while after a reboot, it works, but then it’s back to no wake on tap. Very effing annoying. I submitted feedback to Apple.
 
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