Called and a auto robot message saying to call them before they take legal action

They called & left an auto robot VM from "Officer Laura" from a company whose name I can't even make out about a legal matter & to call back before they proceed to take legal action. When calling back, it asked to state my name & Google voice will try to connect me.

I got a phone call from this number and it is a scam.    Want to take legal action against the person

Scam.  Robo voice claims to be IRS.