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Tap to answer stuck in assistant

After the most recent update on Galaxy S20 5G I lost my tap to answer call feature. I, just like pretty much everyone on the planet, hate the swipe to answer. I have found that I can enable it when the assistant is on, but now I have this annoying assistant menu button flating around I can't stand having on my screen. I also do NOT want to have to hit my volume button to answer. Please provide a solution to hide, allow us to enable tap to answer outside of assistant,  or bring back the "hold-and-drag-to-hide assistant" feature so we can all go back to enjoying our phones and not want to switch to the fruit phone. Thanks.