I have a notification in the status bar for my app:
Notification notification = new Notification(R.drawable.icon, null, System.currentTimeMillis());
You can simulate a launch intent (as if the user clicked on your app icon to launch it):
val launchIntent = context.packageManager.getLaunchIntentForPackage(context.packageName)
val contentIntent = PendingIntent.getActivity(context, 0, launchIntent, 0)
This way, you do not have to mark your app as "singleTask" or "singleInstance" in Manifest (which would create other issues). Thus this should be the proper solution.
Note, however, the above solution may not work directly for you, due to an alleged android bug. Discussions about the android bug and a workaround can be found in this question.