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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 11 | One UI 3.0
Step 1: Tap on  Phone
Step 2: Open the  Menu
Step 3: Tap on  Settings
Step 4: Tap on  Answering and ending calls
Step 5: Enable or disable  Answer automatically
  1. Tap on Phone
  2. Open the Menu
  3. Tap on Settings
  4. Tap on Answering and ending calls
  5. Enable or disable Answer automatically
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Samsung Instructions