is there a way to force Asterisk pick an inbound call for “X” seconds and terminate the call afterwards?
Asterisk will always pick inbound calls immediately. Are you possibly talking about queues and when the agent answer?
See https://wiki.asterisk.org/wiki/display/AST/Asterisk+16+Function_TIMEOUT for imposing a time limit from receipt of the call.
You can use a local channel as a queue member, to impose such a limit on calls to an agent, but note that the Queue application times out unanswered calls to agents, anyway.
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