apologies if not reading question correctly, but I have a shortcut on my iPhone and iPad where i just click on the short cut and it pairs that device to my AirPods. I regularly go back and forth between calls or videos for the two devices. With the shortcut I can easily re-pair the AirPods between the two devices. Sorry I don’t have the skill to copy the short cut here. Looks like it uses an AirPlay action and “Set playback destination to [my AirPodsPro].