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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 11 | One UI 3.0
Step 1: Tap on  Phone
Step 2: Open the  Menu
Step 3: Tap on  Settings
Step 4: Tap on  Call alerts and ringtone
Step 5: Enable or disable  Vibrate when answered
  1. Tap on Phone
  2. Open the Menu
  3. Tap on Settings
  4. Tap on Call alerts and ringtone
  5. Enable or disable Vibrate when answered
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Samsung Instructions