Answer phone alls without swiping bar

In Accessibility, there is an Auto Answer function. Go to Settings>Accessibility>Touch>Call Audio Routing>Auto-Answer Calls. Turn that on. Only if this does not interfere with any other accommodations.

One thing that comes to mind is to set the iPhone to automatically answer calls. Here is some information on how to accomplish this if you are interested https://www.iphonelife.com/content/how-to-set-your-iphone-to-automatically-answer-calls-ios-11

Of course this will have disadvantages in case the person doesn't want to get the phone auto-answered. Read the information in that link and see if that will work for you. Thanks.

Axel F.