Answering a call automatically with Airpods Pro out of case

How do I automatically answer an incoming call when I take my AirPods pro out of the case and place it right into my ears, time here is crucial?

For now, the steps are too long: If I identify a call I need to take:

1. I have to open the AirPods pro case,
2. take it out
3. place it into my ear and
4. press it to accept the call

Is it not possible to once the earpieces are taken out of the case and placed right into the ear, the call is automatically accepted? That will not only avoid losing the call but makes things easier.