I have a 6 plus and I have no problems hanging up or answering calls with the two fingers double tap. If that doesn't work for you try pressing the power button twice to end a call, that's also a viable option. In order to improve the responsibility of the two fingers double tap command make sure that your phone is on a horizontal position not vertical and set your fingers slightly apart. Also the taps must be firm. I've had this problem before but it might be because the call is routed to speaker when you lift your phone from the ear. try turning off that option aswell and see if it works.
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