More then one way to use full duplex - depending on the situation, if you are not in one location/at your node all the time, get an extra Baofeng ~$30
or as I usually do setup a sound fob ~$10 and make it a private node # say 1010 for example and connect it *2(yournode) or permanent connect - and listen via speaker or headphones wired or wireless depending on how far you need to go.
I started out with an autopatch/repeater back ~15 years ago... finally ended up building a 440 Repeater, I still use a simplex radio icom 207 and just monitor it with my private node via soundfob - easy/cheap! Also a great way to listen to Allstar and save your HT's battery if your just sitting at home anyway.
Can also duplex using a VOIP app on a computer/smart phone/tablet like 'zoiper' as an example... to monitor the audio of the node! I do this at times using wifi or 3G/4G.
Just have to configure your asterisk to accept incoming connection from the other device, rather trivial.