Answer incoming calls with a single tap instead of swipe on lock screen

Title. I'm just wondering if it's possible? If not, please let me know.

Thanks!

Edit x2

Is this functionality related to the dialer/phone app, and not the OS?

Yes, I see it is.

Anyone know of a good phone/dialer app that has this feature?

Its relates to Dialer.
Switching apps is the only way.