Here you have:
const notifications = [
  { title: 'Slack', type: 'slack' },
  { title: 'Email', type: 'email' },
] as const;
const model = {
  slack: {
    payload: {
      a: ''
    }
  },
  email: {
    payload: {
      b: ''
    }
  }
} as const
type Model = typeof model;
type notifications = typeof notifications;
type MapPredicate<T> = T extends notifications[number] ? T['type'] extends keyof Model ? { readonly type: T['type'] } & Model[T['type']] : 1 : 2
// http://catchts.com/tuples#map
type Mapped<
  Arr extends Array<unknown>,
  Result extends Array<unknown> = []
  > = Arr extends []
  ? []
  : Arr extends [infer H]
  ? [...Result, MapPredicate<H>]
  : Arr extends [infer Head, ...infer Tail]
  ? Mapped<[...Tail], [...Result, MapPredicate<Head>]>
  : Readonly<Result>;
// https://stackoverflow.com/questions/50374908/transform-union-type-to-intersection-type/50375286#50375286
type UnionToIntersection<U> = (U extends any ? (k: U) => void : never) extends (
  k: infer I
) => void
  ? I
  : never;
// https://github.com/microsoft/TypeScript/issues/13298#issuecomment-468114901
type UnionToOvlds<U> = UnionToIntersection<
  U extends any ? (f: U) => void : never
>;
// https://github.com/microsoft/TypeScript/issues/13298#issuecomment-468114901
type PopUnion<U> = UnionToOvlds<U> extends (a: infer A) => void ? A : never;
// https://stackoverflow.com/questions/53953814/typescript-check-if-a-type-is-a-union#comment-94748994
type IsUnion<T> = [T] extends [UnionToIntersection<T>] ? false : true;
// http://catchts.com/union-array
type UnionToArray<T, A extends unknown[] = []> = IsUnion<T> extends true
  ? UnionToArray<Exclude<T, PopUnion<T>>, [PopUnion<T>, ...A]>
  : [T, ...A];
type Arr = notifications[number]
const mapping = <T extends typeof notifications>(data: T) => {
  const result = data.map((n) => {
    const { title, ...rest } = n;
    return {
      ...rest,
      ...model[n.type]
    }
  })
/**
 * AFAIK, it is impossible to omit this type casting
 */
  return result as Mapped<UnionToArray<Arr>>
}
const result = mapping(notifications)
type Return = [
  { type: 'slack', payload: { a: string } },
  { type: 'email', payload: { b: string } },
]
Because, JS arrays are mutable, I'm not sure it is possible to type result as an array with exactly two elements.