I answer it and if it's a random sales pitch or something I just hang up straight away. It's quicker than waiting to see if there's a message. My phone is pretty good at warning me when the withheld number is a scam.
The times I've ignored them it's turned out to be something important (medical/solicitor etc) and it's taken forever to get hold of them when I've tried to ring back. Just not worth the anxiety, so I pick up and hang up without speaking, when needed.
I have adult kids and grandkids, and until recently, aged relatives. One of the calls I ignored was to tell me that my mum had been rushed into hospital. It took half an hour of calling back and being passed around departments before I found out what the issue was and whether she was alive or dead. I'm not doing that again.