how do I answer my phone without touching it or talking to Siri without touching it?

To invoke Siri without touching the phone, first go to Settings>Apple Intelligence & Siri>Talk & Type to Siri and make sure that you have either "Siri" or "Hey Siri" or "Hey Siri" selected. Then, all you need to do is say, "Hey, Siri, what's the weather for tomorrow?" and Siri will answer.

Also, double check that Settings>Apple Intelligence & Siri>Siri Responses is set to either Automatic or Prefer Spoken Responses.

You can set up auto answer calls in settings.

accessibility -> Audio & Visual -> Call auto routing -> Auto Answer calls

you can also change the timing of how long it takes to answer the call.