The exact steps I’ve been taking are:
Launch game > Into The Crucible > Settings > UI > Set healthbars to always off > Click Save > Click Close > Open settings up again > UI > Set healthbars to Smart - Play a game of Crucible > Choose your perks > Do the same steps again….> Settings > UI > Set healthbars to always off > Click Save > Click Close > Open settings up again > UI > Set healthbars to Smart
Then you can just quit, hopefully once you re-launch then it’ll be there, but when you re-launch, always follow the same steps. I just chose the UI > Healthbars setting randomly, so maybe any setting could work, but this is what’s working for me so far.