Resume or pick up call that is on hold assist using AirPod pros

How can I resume, or pick up, a call after I activate hold assist on my AirPods Pros? I have tried the force sensors on both AirPods, which only mutes and unmutes. I've also tried the head gestures, and "Hey, Siri pick/resume call". So far the only way I am able to resume a call where I am using hold assist is by tapping pick up on my iPhone.