Same problem here. While I was on the phone with Apple Support I found this forum. I was able to work around the issue by turning off CarPlay (2018 BMW). Now my watch shows the incoming call notification. Then tried it with CarPlay back "on". It still works. I suspect that next time I connect to my car I will lose the incoming call notification to the watch. Bug report has been filed.
RedCab1
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Los Altos, CA, United States