How to route the call if no DTMF is pressed

First, define the IVR main menu like this:

    <menu name="ivr-test"
	  greet-long="/usr/local/freeswitch/sounds/greetings.wav"
	  timeout="10000"
	  inter-digit-timeout="2000"
	  max-failures="1"
	  max-timeouts="2"
	  digit-len="1">
      <entry action="menu-exec-app" digits="1" param="bridge sofia/internal/1001%10.10.10.10"/>
      <entry action="menu-exec-app" digits="2" param="bridge sofia/internal/1002%10.10.10.10"/>
      <entry action="menu-exec-app" digits="3" param="bridge sofia/internal/1003%10.10.10.10"/>
    </menu>

and then in your dialplan, you need:

 
   <extension name="from_carrier_to_ivr-test">
      <condition field="destination_number" expression="^15559876543$">
	<action application="set" data="hangup_after_bridge=true"/>
        <action application="ivr" data="ivr-test"/>
        <action application="bridge" data="sofia/internal/1000%10.10.10.10"/>
      </condition>
    </extension>

With this config, if the IVR manages to bridge the call, it will hang up when the bridge ends.

But if no DTMF is sent, twice in a row (max-timeouts control that), FreeSWITCH will exit the IVR menu and process the next dialplan line, which bridges to 1000.