Back to Navigation while or after Phone-Call

Hi all,
I have a question;

My phone (Samsung A51) is connected to the my Sena-Intercom (5S and SRL2, depending on the helmet).
While riding with navigation on, occasionally a phoncall comes in. Then the navigation-scree disappears on the phone, + after the call the navigation scree does not “come back”.
So I have to stop, and put the navigation screen “on front” again.
Is there a solution how to keep navigation “on screen” while / after the call(s).

Hope you guys can help me…