I have recently been experiencing repeated disconnects of my Gen 2 AirPods on iPhone and iPad Pro. My iPhone is running non beta software. My iPad Pro is running iPadOS public beta 3.
I have told both devices to forget the AirPods and repaired many times. Still getting drops during all forms of media and calls.
Try resetting the AirPods, not repairing it. Reset it then repair it with the devices. That’s what I had to do. I forget how to do it. You can google it and it will come right up.