Embark has a new embark-automatic-prefix-help-mode which behaves like which-key's default configuration: if you type a prefix of an #Emacs key binding, after a small (configurable) delay, you get reminded of what keys are under the prefix.
This functionality simply calls the existing embark-prefix-help-command on an idle timer. I've already written about that older functionality in my blog:
https://www.matem.unam.mx/~omar/apropos-emacs.html#the-case-against-which-key-a-polemic
but a quick summary is that if you use
(setq prefix-help-command #'embark-prefix-help-command)
then pressing C-h (or whatever you have set as help-char, if you've customized it) after typing a key binding prefix will prompt you with completion for a command under the prefix. If you use Vertico's grid display this looks a lot like which-key, but is more powerful because you can filter by typing bits of the name or of the rest of the keybinding, if you use Marginalia you can see first lines of docstrings, and you can use embark-act on the commands to do things like display the full help, go to the corresponding part of the info manual, jump to definition, etc.
So if you weren't using that just because you didn't want to press C-h and instead wanted it to happen automatically, the new embark-automatic-prefix-help-mode is for you. (I won't judge you if you use it!)