Yes. Phone calls from your father to you should not create a problem, even with a warrant in your name. Prison phone calls are recorded and monitored, but a warrant for someone on the receiving end of a call does not automatically flag the call or block the communication. Inmates call family members with complicated situations all the time, and it does not raise red flags the way an in-person visit would.
Visiting is a different matter. In-person visitation requires a background check and approval process, and an active warrant would very likely result in denial. Stay away from in-person visits until the warrant is resolved.
To get back in contact, the simplest path is to write him a letter with your current phone number clearly included. Once he has it, he can add it to his approved call list through his counselor and reach out. If you have not been in contact since your grandmother passed in 2022, that is a long time, and reconnecting is worth the effort of a letter.
Resolve the warrant as soon as you are able. Having it hanging over you complicates more than just prison visits.