New trouble connecting iPhone to Hyundai Sonata bluetooth

I have had my phone and my car paired for quite some time (2015 Sonata and iPhone 7+). While it still connects the phone to the car bluetooth, every time a call comes in and I answer it, the display asks me if I want to go handsfree and the sound is through the phone, not the car. Is there any way to fix it so when I answer the call, it automatically goes hands free? Kind of defeats the purpose if I have to choose handsfree every time... (Note: this model Sonata doesn't allow Apple Car Play, so that's not an option)