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It turns out the problem was in the confirm method. For the successful case we had been sending back a response like such...INStartAudioCallIntentResponse(code: .continueInApp, userActivity: userActivity)This worked up until iOS 13. For iOS 13 we had to change .continueInApp to .ready. This solution works for older iOS versions as well.
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I have the same issue. Also, I don't think it is safe to expect the device tokens to always be 32 bytes. I found this from raywenderlich.com that handles the "{length = 32, ...}" description scenario...let tokenParts = deviceToken.map { data in String(format: "%02.2hhx", data) }deviceTokenString = tokenParts.joined()However, it doesn't work for the other tokens with description "<... >" 😕
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The entitlement key for voip is: com.apple.developer.carplay-calling