Keep Maps/Waze on screen when answering call I have my iPhone paired with my car's Bluetooth. I typically have my iPhone displaying Waze or Apple Maps in navigation mode. When I answer a call, the Phone app takes over the entire screen and I no longer see the map.

Is there anyway to keep the navigation on screen while I'm answering a phone call?
It's not possible to make the call screen not come up. You'll have to double-click the Home button and go back to Waze. Or, if you have an iPhone 6s/Plus, 3D touching the left side of the screen and dragging right will send you back to the previous app.