Honestly, yes I have and will. I will answer the cell phone if I judge the driving situation to be not too demanding (interstate cruising, for example) or if my wife is in the car I’ll hand the ringing phone to her. If it’s in town traffic, then I’ll let it go to voice mail or answer and pull over. It’s a situational decision. I will not originate calls while driving, and I certainly would not text (not that I use texting anyway).
If it’s a call that demands a lot of my attention I will pull over and stop, and I have said, “hold on” and thrown the phone down to handle some driving task that cropped up.