Need Robot to answer Google Voice for MFA

As the title says, I need a Bot to be able to answer Google Voice (or some other phone service) and then hit the “#” key in order to bypass a Multi-Factor Authorization. The Bot does NOT need to know exactly when to press the # key, as I believe I can just use a delay. Does anyone have any experience doing this? If so can you give some insight into it? How to I get the bot to trigger when a phone call is received on Google Voice?