Todoist does this well imo, but I can't tell if a task has notes and I often forget to check because I use that section sparingly.

Honestly, best case scenario is to add a "see notes" toggle when notes section has any text and a "see subtasks" toggle if it has subtasks (even if you left that one open by default). And then leave them off when it doesn't have anything in those sections.

Subtask management and coordination between Sunsama and Asana needs a lot of work, but it's closer than anything else 🙏