Separate Inbound and Outbound Agent sharing same phone number

Is there any way for us to connect inbound and outbound agent to share same phone number? using API

When our client push outbound agent and when the call is missed, the person receiving the call typically calls the number back, currently this number (Twilio) will use the same agent prompt for outbound. I want the inbound call to be using a separate agent but both be sharing the same number. Is that possible, will be doing this via API
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