Hi @Geert Van Houdt (HelloDoor) ,
I'm glad that you were able to resolve your issue and thank you for posting your solution so that others experiencing the same thing can easily reference this! Since the Microsoft Q&A community has a policy that "The question author cannot accept their own answer. They can only accept answers by others ", I'll repost your solution in case you'd like to accept the answer.
We found the solution. Our app used the "8:orgid" for the prefix of the ID called. But that is for calling a Teams User, for a Public cloud Call Queue it needs to be 28:orgid:<id>
Note: in the "Quickstart" link mentioned above, this prefix information is mentioned when you select Android, IOS or Windows as the platform, but not when you select Web (under "Find Object ID for Call Queue"). I think that's how we missed it.
So yes, calling a Call Queue from an ACS app is supported. Nice!
You just need to select a different prefix when calling a Teams App (like a Call Queue).
If the answer is helpful, please click "Accept Answer" and kindly upvote it.