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Is there a way to create a custom “action” in iOS Shortcuts?

I

iMore Question

Is there a way to create a “custom action” in Shortcuts for iOS? I want to create a personal automation that will enable “auto answer” (located in Accessibility - Touch- call audio routing ) when my iPhone connects to a specific BlueTooth device. Ultimately, I want to reverses this action when this BT device is disconnected. (Id be ok with running a second shortcut to reset call audio Routing to automatic)
 

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