You can use arpwatch. It reports new mac addresses on a given network interface.
Here's my setup. I have a raspberry pi running pihole and unbound. I set that raspberry pi as my primary dns on my router. Now in order to use the internet all devices will make dns queries over wifi (you can use a wired pi as well) to the pi which means it will also see all devices using your wifi and notify you when a new one shows up or if an ip changes mac addresses.
Keep in mind these notifications use smtp (email) and you most likely need a mail server to receive them.
I have a matrix server on my network that has postmoogle (email bridge) that can receive the emails from arpwatch and send them to me as a matrix message