Same issue. I think it is the lockscreen. If you swipe up on your lockscreen, there's a prompt at the bottom for emergency call. Touch it and it calls 911. I have not been able to figure out how to get rid of that.
I fixed it! Swipe down for the cog, go to Advanced Features, Motions and Gestures, and turn off Double Tap to Turn On Screen. I just tested it in my pocket and it doesn't open the lock screen, and ultimately the swipe up that exposes the emergency call button.
Happened to me today. First time it's ever happened. Android 13, Samsung S20+
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A way to make sure you dont call the police is to edit the emergency number to a non working number, Like "0" and set a longer countdown
Open up the system settings then click emergency number to call now click custome and change it to 0000 to stop it from calling or of course you can set it for any number you want 😉