If the consequences for letting that call go to voicemail are any less severe than full account takeover by a script kiddie, you're still better off never picking up.
Google in particular is famous for making it impossible to contact a human. If Google calls you, before picking up, consider whether you truly believe you're lucky enough to be one of a handful of people in the world to ever get human support from them.
I've spoken on the phone with humans in Google support. (You, too, can do this, just pay them enough.) However, they called me after I filed a support case and specifically requested a call, and they started off by mentioning the number of the case I had filed.
If you ever get a cold call from "Google Support", it's basically guaranteed to be a scam.
After I got Google Glass in 2013 as one of 8,000 "Explorers" I was given a support telephone number that was always quickly answered by a Google employee knowledgeable about Glass.
Google in particular is famous for making it impossible to contact a human. If Google calls you, before picking up, consider whether you truly believe you're lucky enough to be one of a handful of people in the world to ever get human support from them.