My son hated tummy time too.... but I was also encouraged to persevere.
One reason is that it strengthens their neck muscles so that they are able to crawl, and sleep okay when they sleep on their tummies - and believe me - they WILL sleep on their tummies - ALL THE TIME!!!

I heard a good suggestion was to put a rolled towl under their arms, so that they are a little elevated.
also those mirrored triangles are helpful.
And getting down on your tummy and facing Natalie.

And my son started to love tummy time after we spent some time 'rolling him' over and over.

Don't stress too much about it. But try to encourage it.... even if it's just a minute at a time.
I guess they need to be happy to be on their tummy so that they eventually crawl. If they don't get tummy time, it may take longer for them to crawl as that requires them to be on their tummy for a while before they get the strength to get their arms and legs co-ordinated.

You can also do "tummy time" across your lap. Maybe give your baby a little back massage?
Or lie on the ground, and put your baby on your tummy - facing you.