Voter Mark Halfman, who cast a ballot for Trump in 2016, described the president's foreign policy as a "modern-day miracle" citing his Middle East peace plan and reduction in troops overseas.

He asked Biden if the president deserved some credit, to which the vice president said, "a little but not a whole lot."

"We find ourselves in a position where we're more isolated in the world than we ever have been," Biden said. "'America first' has made America alone."

Biden cited Trump's relationship with questionable figures and hurting relationships with America's democratic allies.

"You see what’s happened and everything from Belarus to Poland ... to Hungary and the rise of the totalitarian regimes in the world. And as well as this president embraces all the thugs in the world," he said.

When asked about the environment, Biden reiterated that he would not ban fracking, calling instead for the practice to be managed "very, very well."

"I think you have to make sure that fracking is, in fact, not admitting methane or polluting the well or dealing with what can be small earthquakes and how they're drilling," he said. "So it has to be managed very, very well."

The former vice president also said that the future rests in renewable energy and criticized Trump for his comments on the environment.

"Every time we talk about global warming or the environment, the president thinks of, you know, it's a joke and I think it's jobs," Biden said.

"I, as president, am going to invest that $600 billion we spend on government contracts only on those things that, in fact, also are not only made in America, but building an infrastructure that's clean and new," he added.

Stephanopoulos pushed back on Biden, citing a New York Times op-ed written by a member of the Boilermakers Local-154, who said that fracking was at odds with Biden's goal to end the use of fossil fuels.

After touting the union's endorsement, Biden said that he would end oil subsidies. He also tried to distinguish between his plan and the Green New Deal.

"The new green deal calls for the elimination of all -- all nonrenewable energy by 2030," he said.  "You can't get there. You're going to need to be able to transition, George, to be able to transition to get to the place where we invest in new technologies that allow us to do things that get us to a place where we get to net zero emission, including in agriculture."

Biden spoke about the current situation with the Supreme Court and didn't express confidence in Supreme Court nominee Judge Amy Coney Barrett's testimony this week.

"I don't even think she has laid out much of a judicial philosophy, in terms of the bases upon which she thinks are there unenumerated rights in the Constitution," he said.

Biden reiterated that her hearings and vote should not have been held this close to the election.

"You get disagreement among scholars on this, but I believe it's inconsistent, when millions of people have already voted to put someone on the court. I think it ... should have been held until ... this election is over.

Stephanopoulos asked Biden if he would consider expanding the Supreme Court, noting that a year ago during a primary debate he was against court packing.

Biden declined to respond, because he said he didn't want to distract from the biggest issues.

"No matter what answer I gave you, if I say it, that's the headline tomorrow. It won't be about what's going on now. The improper way they're proceeding," he said.

When pressed by Stephanopoulos, Biden said he will have a more clear position before Election Day, "depending on how (the Senate) handled this."

Biden encouraged voters, however, to use this opportunity to vote for leaders who can influence the courts.

"That's your opportunity to get involved in lifetime appointments that have. Presidents come and go, justices stay and stay and stay," he said.

Angelica Politarhos, a Republican voter from Garnett Valley, Pennsylvania, asked Biden about his view now on the 1994 Crime Bill.

"Things have changed drastically," the former vice president said. "That crime bill, when we voted, the black caucus voted for it, every black mayor supported it across the board."

When Stephanopoulos asked Biden if it was a mistake to support the bill, he said the mistake occurred at the state level.

"The mistake came in terms of what the states did locally," he said. "What we did federally, we said it was -- you remember, George, it was all about the same time for the same crime."

Stephanopoulos also asked Biden about previously saying that more police meant less crime. Biden said that only works if those police officers were doing community policing.

"We had community policing from the mid '90s on until -- until (George W.) Bush got elected, what happened? Violent crime actually went down," Biden said.

"The cops didn't like it," he added. "They didn't like the community policing because you had to have two people in a vehicle. They had to get out of their cars."

Biden went on to call for de-escalation training for police. "So instead of anybody coming at you and the first thing you do is shoot to kill, you shoot them in the leg," he said.

He also called for psychologists to accompany police officers on calls where mental health is a factor.

BIDEN'S CLAIM: Biden claimed that neither he nor the doctors he has spoken with had not seen a plan from the administration to distribute a COVID-19 vaccine. "There should be a plan," he said. "When we have the vaccine, how do we distribute it?"

FACT CHECK: The Trump administration does have a plan to distribute a potential COVID-19 vaccine, although the president has misrepresented how quickly it could be distributed.

Some of that plan was outlined in a Sept. 16 "Distribution Strategy," released jointly by the U.S. Department of Health and Human Services and Department of Defense.

The documents, according to HHS, provide an overview of distribution plans along with guidelines for "state, tribal, territorial, and local public health programs and their partners on how to plan and operationalize a vaccination response to COVID-19" in their communities.

The Trump administration also created "Operation Warp Speed," a partnership between HHS and DOD, as well as other private and federal agencies, to accelerate the research, development and eventual distribution of COVID-19 vaccines and treatments.

HHS Secretary Alex Azar has said that as part of Operation Warp Speed, federal officials have been laying the groundwork for vaccine delivery. "This in-depth, round-the-clock planning work with our state and local partners and trusted community organizations, especially through CDC, will ensure that Americans can receive a safe and effective vaccine in record time," Azar said in a press release last month.

Meanwhile, the Centers for Disease Control and Prevention executed a contract with McKesson -- the company that distributes the annual flu vaccine -- to distribute the COVID-19 vaccine when it becomes available.

Trump, though, has exaggerated how quickly most Americans could receive it, suggesting it would be widely available by the end of the year or even sooner. Federal public health officials and outside experts say most Americans will not be able to get vaccinated until well into next year.

-ABC News' Arielle Mitropoulos and Sony Salzman