I found a nice workaround!!

I made makrodroid produce a calendar event starting in one minute with the SMS text as event note for every SMS I receive from my office while I'm in my car.

Now I can listen to the incoming SMS as usual and if I want to call the transferred number, I open my calendar, select the "Office" event and I get the option to call it directly.

 

Trigger: SMS from "XY"

Action: add calendar event (title = [sms_name]  detail: [sms_message], duration: 1 min, time: relative +1 minute)

Condition: connected to bluetooth (Tesla...)