Is there an auto answer option that also works with video calls? Skype recently updated all their clients and removed that option which is really useful for monitoring someone you care for (eg. kids, older relatives, pets).
Something you can do is use Jitsi Meet (the WebRTC client) and have the monitored device permanently connected to a meeting room (protected by a password if you are using our public infra) and join the call whenever you want to see the other side.