Zone Notifications To Device Entering the Zone

I have three zones set up and I want to configure home assistant so that, when a tracked device enters a zone, a notification is sent to that device and that device only. The notification sent is the same regardless of the device or the zone it is entering. Is there a simple way to send a notification, within an automation, only to the device which has entered the zone? Or is my only option to parse through all of my tracked devices to check which zone they are in?

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