The first screen-shot shows an active VoLTE connection, while the second VoWiFi.
Upon connecting to WiFi, ASUS Rog 5 switches from VoLTE to VoWiFi in about ~10 seconds, which is definitely snappier than Moto G 5G -- perhaps it used to take ~20 seconds on Moto.
I remember that Moto was a little "sensitive" about VoWiFi, by dropping it off occasionally, but so far ASUS hasn't dropped VoWiFi, by holding on that connection rather strongly. So far, so good. Touch wood.