After use I always manually lock my phone (by pressing the side button) and place it in my pocket. Occasionally I then pocket dial someone, but only those on my favourites list (STD clinic, the leader of the local Bridge club, Alcoholics Anonymous etc).
Under "settings > face ID & passcode > allow access when locked" I have "return missed calls" switched to off (it was on upto approx one month ago, and I thought that might be what was happening, but non - it still happens sporadically).
What (dafuq) am I doing?