It's all in the settings!
Before answering a phone call, take a moment to change the audio route setting in Settings > Accessibility > Touch > Call Audio Routing
Selecting the Bluetooth Headset option will ensure all incoming calls can be answered through the Bluetooth device, even if you press the answer button on the iPhone.
You can also switch between the Bluetooth Headset, Handset, or Speaker options in the call interface while on a phone call.
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