I just upgraded from S6 to S21. I've loved my S6 but it was finally showing its age, so I had to move on. So I picked S21, assuming its a vast improvement over S6. While I am impressed by the camera and some other nifty features, I'm shocked to find that the "Answer calls with voice" option has been removed! I've been googling like crazy, trying to find a workaround. I alto tried Google Assistant, Bixby and Accessibility options. Sadly, I've come to the conclusion that there is no viable solution to this issue. I just don't understand why Samsung would take this feature away. Not only is it useful when your hands are wet/dirty (like, cooking, doing yard work), I find it indispensable when you are driving. I am discouraged to see some posts at this Samsung site dating back to 2017/2018 that flagged this issue, asking Samsung to bring it back. Dear Samsung...please listen to your loyal customers!!