Is it possible to program softkey to open door relay extension while on active call?

Are there any sip phones that allows to program a soft key to buzz a door relay via DTMF to door extension while on an active call, without having to put active call on hold or park?

Ideally it would be a grandstream or yealink IP phones, but I’m open to others if its possible.

And how should I program that soft key to get this done.

We only have three people working at this company, with no receptionist, and many times they are all on active calls, and they used to have this feature with old Avaya partner system, and I thought I could simulate this feature in IP PBX environment