This was a particular passion project of mine a while back. I tried building a haptic compass that could be worn on the wrist and discovered that that the actual haptics mattered a lot. Vibration didn't work at all for me (I couldn't internalise the feeling - however much the intensity modulated it just felt like buzzing) but ended up using
a kind of trick of directional "tick" lines to represent proximity to North - which felt almost instantly familiar.
I never finished the project, but love this idea!
https://youtu.be/7UaAwTuahWo?si=YFBq1trurHq0P7i-