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Answering calls from Lock Screen

Just noticed this problem yesterday and again this morning. If I receive a call while the phone is locked, I get the full screen call notification with the Reject and Answer icons at the bottom of the screen. If I swipe up on the answer screen, the call just goes to voicemail. I did some searching and found some info on setting the touch to swipe feature. Tried this and observed the same issue.


I'm running the most current software available (Oct 1, 2019 update). Any help would be greatly appreciated.