I felt the same way!! Was very stressed at work one day and i didnt manage to feel much of baby’s kicks. I panicked, drank a glass of cold sweet milo at night and laid down on my side. Felt only 1-2 hard kicks after that, and the rest felt too faint/light. Continued like this for about 2 days until after the stressful situation at work passed, then suddenly baby was VERY active and kicking hard throughout the day 😅 im at 24w+ too.
I only realised this was caused by stress on hindsight.... so i think yes, baby can really feel our tension! :( Try drinking some cold sweet drinks, and lying on the side, it really helped to encourage baby’s movements, however small!
Good luck!