Twilio TaskRouter: Add Another Agent in the same call

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I am using TaskRouter. I am adding an inbound call to enqueue method like this

$enqueue = $response->enqueue('WSDSupport',['workflowSid' => $workflowSid,
                                                'action' => 'xxxxx']);

And Dequeuing the call like this on the assignment callback URL.

return response()->json([
            "instruction" => "dequeue",
            "Timeout" => "15", // to ring before assuming there is no answer
            "record" => "record-from-answer",
            "status_callback_url" => 'xxxxxxx',

        ]);

The task is created, the reservation is made and the call is connected to the worker successfully. Now I am trying to add another worker in the same call without using conference. If it's possible then how? If only conference is the only way then give me a rough idea how can I do that.

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The requirement of having more than two people on a call at the same time without using a Conference is not possible. To have more than two people on a call you must use a Conference.

To use a Conference, you first need to Dequeue the call to a Conference using the "conference" instruction. Then once you have an active Conference, you use the Twilio REST API Conference Participant to Create a Conference Participant.