I finally found how to get the "Tap to Answer" back on the phone. I think they took it away on Pi, and since I just got this phone with Android 10 - I assumed it wasn't there (and after looking with no avail). It is hidden, in my estimation, under Assistant Menu.
1st - Accessibility>Interaction and dexterity>Assistant Menu. Hard press Assistant Menu - takes you to a new menu. Then you unfortunately have to turn on the Assistant menu>Single tap to swipe. So we have to have the Assistant menu (a little button) on the screen or as a side button in order to keep the "tap to Answer" on. I made it be a side button and made it transparent so I don't notice it because I won't use it. Now, I can tap to answer calls, to dismiss alarms ect. !!! Hope this helps anyone else that has been looking and hoping to get that function back.
1st - Accessibility>Interaction and dexterity>Assistant Menu. Hard press Assistant Menu - takes you to a new menu. Then you unfortunately have to turn on the Assistant menu>Single tap to swipe. So we have to have the Assistant menu (a little button) on the screen or as a side button in order to keep the "tap to Answer" on. I made it be a side button and made it transparent so I don't notice it because I won't use it. Now, I can tap to answer calls, to dismiss alarms ect. !!! Hope this helps anyone else that has been looking and hoping to get that function back.