Not on our pixel 3's.... but I believe the pixel 6's let you answer the call with your voice, and turn the speakerphone on for you. That's the exact same thing my 2015 Moto X Pure Edition let me do... I loved that feature, used it all the time.
Interesting how it took Google 7 years to put it in their phones... especially considering the Moto X Pure Edition was the first Motorola phone with major design input from Google after they purchased Motorola.