My boss just got the Motorola Droid and did the swipe to answer thing over and over as we tested it ... the call went to voice mail. This has nothing to do with using the phone while driving, btw.
She had to use both hands to ATTEMPT answering the phone (one to hold the phone and the other to swipe - which is short-sighted IMO) and still couldn't do it because the multiples wipes took too long.
It's a pretty frustrating process. Reassigning a button to answer when ringing would be ideal. Not sure who thought having to use two hands to answer a phone was a good idea.
Please come out with a workable solution soon.