Absolutely! More on that:
I suffered from those exact same issues and started that topic back then. Fortunately, Apple did acknowledge the issues later on and started the service program. As of now, my replacement AirPods Pro work fine. I had the left one replaced in early summer of 2020. The right one failed in November and was replaced back then.
The thing is exactly like you described: the AirPods Pro experience degrades slowly. First, I did not realize how everything went downhill step by step… When I received my replacements, it was exactly like you said: worlds apart from the bad ones. I read somewhere that replacements units from October 2020 and later do not develop this issue any more. I am knocking on wood and hoping the best for my left AirPod Pro that had been replaced before October.
The AirPods Pro are great as long as they work… 