IPhone locked in VoiceOver mode and passcode is not working

This is more of an answer than a question because I could not find a helpful answer to this issue anywhere in apple forums, but found it elsewhere.

My iPhone was in Voiceover mode and got locked. When I entered passcode by double tapping on each number, it kept saying the passcode was wrong.

All the suggestions I found in forums said to use Siri, which is unhelpful because launching Siri requires being able to enter passcode and have it be accepted.

Eventually I learned that double tapping the passcode would not work because the touch interface is different for VoiceOver. First you have to tap once to select the number, then double tap anywhere on the screen to actually enter that number.

E.g, to enter passcode 123, navigate to passcode entry screen using standard Voiceover gestures and:

1. Tap once on 1, then double tap anywhere to enter 1
2. Tap once on 2, then double tap anywhere on the screen to enter 2
3. Tap once on 3, then double tap anywhere to enter 8.