How to answer incoming calls
How ri answer incoming calls on airpods
iPhone 7, iOS 14
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See the following from Connect and use your AirPods and AirPods Pro - Apple Support
When a call comes in while you're wearing either AirPod, Siri can announce the call. To answer with AirPods Pro, press the force sensor. To answer with AirPods (1st or 2nd generation), double-tap an AirPod. Later, you can press the force sensor on an AirPod Pro or double-tap an AirPod to hang up or switch to another call.