Can car play answer the phone with a voice command?

Thanks for reaching out to the Apple Support Communities! I understand you want to know if CarPlay can answer the phone with a voice command. I’m happy to help! To answer your question, yes, Siri can answer calls. I recommend taking a look at this article with steps to Set up CarPlay with your iPhone.
Let me know if you have any questions.
Have a great day!

This should work, but you would still need a way to activate Siri to ask her to answer the phone. Raising your wrist, if you are wearing an Apple watch, should do this. Since CarPlay is connected to my car controls, I just hit the answer button on my steering wheel to answer the phone. It's easier and quicker than asking Siri. The same button also hangs up the phone and by holding in the button, I can reject a call. CarPlay works great!