Using Android to Answer calls of iPhone

My primary device has always been an iPhone. But recently i saw android auto and it is way more responsive and offers a great experience.

So I am planning to get an android tablet for my car. But the problem is that if I connect the android and not my iphone then I would not be able to take calls coming to the iphone on my car’s speakers. Is there any way I can do this, something like handoff?

Call forwarding is not really an option as it would always forward my call to android tab which I do not want. I just want the phone calls to come on android when I am in the car (or iphone is nearby the android tab).

Hope there is something like this available!