If the Samsung device is connected to a headset or a Bluetooth device (hands-free, car, etc.), we can have calls answered automatically, and in the phone settings we can enable the Auto Answer feature and adjust the time until the call is answered.

Android 10 (One UI 2.0)
Step 1:  Open the  Phone-App
Step 2:  Open the  menu
Step 3:  Open the  Settings
Step 4:  Tap on  Answering and ending calls
Step 5:  Enable or disable  Answer automatically
  1. Open the Phone-App
  2. Open the menu
  3. Open the Settings
  4. Tap on Answering and ending calls
  5. Enable or disable Answer automatically

Samsung Instructions
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