Samsung S21 5G incoming calls on the car system


My wife Samsung S21 5G is paired with her car system. She had forgotten her phone and had an incoming call while driving, she was able to receive the call in the car but not able to communicate with the other party as they were not able to hear my wife speak. Does my wife need to have her S21 phone in the car (2018 Toyota RAV4 Limited AWD) so she can talk with the other person? We have never used cellular-smart phone before with an automobile system so this is very new to us.

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