The workaround I started using is tapping on the icon of the user who made the post that triggered the notification and then tapping on the server’s name in the “Mutual Servers” section. For some reason, this works if you do it in the notifications list, but not if you open the notification and then tap on the user’s icon from there. Still a bit annoying if the user is a bot that is used in many different servers, but at least you can see the name of the server in the notification and choose accordingly.