Solved! Go to Solution.
I am getting the Samsung Galaxy S20 on March 6th and I will report back if this software change has been made to easily switch to "tap" to answer calls/dismiss alarms/meetings, etc. Hopefully, it's no longer buried in the assistant menu.
Unfortunately, the solution is the exact same for the S20 as it was for the S10. The setting is still within the assistant menu. Horrible. Using Verizon on the Galaxy S20 Ultra 5G.
And here I thought I was the only one having this tap option problem to answer calls. My phone is Galaxy A20.
Every time Samsung does an update, the phone settings are changed.
What a PITA !!!
I have a solution to the assistant menu/symbol appearing in the notification bar, but there's a slight catch.
Once you enable single tap to answer and then press and hold the floating Assistant menu icon on the home page and remove it, you then have that menu appear in the notification bar.
In order to make it (temporarily) completely disappear, go to settings > apps > upper right 3 dots menu > select show system apps > select Accessibility > select force stop.
As I said, this is a temporary fix as once the phone is restarted, either the floating icon returns on the home page or the Accessibility menu returns to the notification bar (I've noticed no rhyme or reason to which one will appear after a restart, as I've had one and not the other return on multiple occasions). You simply will have to return to the settings menu and force stop the app again upon every restart.
It may seem annoying ('cause it is) but I've found that this works for me and I'm able to answer calls and silence/turn off alarms with one tap. Hope this workaround works for you guys and gals as well!