If it's urgent, I pull into a parking lot, and talk on the phone, when I'm done, I drive off. Cops pulled up on me once, and asked what I was doing, told them "would you rather me use my cell phone here, or while driving down the street?" They drove off.
If I get a call while driving I wait till I'm at my destination to check it, if they call twice (ie. Urgent), I'll pull over, and check the message and call them if I didn't have enough time to pick up.
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