With all the things you can do with your Galaxy, it's easy to forget it's still a phone at heart, and incoming calls that take over your entire screen serve as a rude reminder of this fact. Thankfully, Samsung handsets like the S10 and Note 10 come with a setting built-in that aims to keep these interruptions to a minimum.
Since the first version of One UI (Android 9), Samsung has had an option that lets you receive incoming calls as a less intrusive popup card instead of taking over the whole screen. With it enabled, inbound calls no longer totally cut you off from whatever you were doing, so it's significantly easier to pick up where you left off once you accept or decline the call.
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Simply open the Phone app to start off, then hit the three-dot button in the upper-right corner and select "Settings" from the menu. From there, tap on "Call display while using apps," and choose "Pop-up" on the following page.
If you don't want the Phone app to go full-screen when you answer a call, be sure to toggle "Keep calls in pop-up." If you're on One UI 2, you can further resize the call card if you find the default size too big. To do so, simply choose "Mini-pop-up" inside the "Call display while using apps" page highlighted above.
Now, calls will simply appear as a heads up-style notification with simple "Answer" and "Decline" buttons on the popup. It does cut into your screen a tiny bit, but it's so much less intrusive than the full-screen call UI was!
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