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If a Push Notification is received while the device is locked, the app is/isn't launched upon unlocking the device.
iOS controls this behavior, and it appears to be time-based. If the device is unlocked shortly after receiving the Push Notification (i.e., within seconds), the app is automatically launched. If the device is unlocked a few minutes after receiving the Push Notification, the app isn't automatically launched. Unfortunately there is no way to customize this behavior for the app.
Note: Push Notifications are available exclusively for 
users. Learn more about Pro features
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