In order to get a haptic feedback when accepting a call, we can activate the "Vibrate when answered" function on the Samsung device. If the call is accepted, the device vibrates briefly.

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  Call alerts and ringtones
Step 5:  Enable or disable  Vibrate when answered
  1. Open the Phone-App
  2. Open the menu
  3. Open the Settings
  4. Tap on Call alerts and ringtones
  5. Enable or disable Vibrate when answered

Samsung Instructions
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