I don't think you would need any such direct support. Rather, I would expect the iOS device to simply attempt to connect to the airpods repeatedly until they are found, or the user aborts.(E.g. to add Find My AirPods support).
Likewise, it might not be necessary to update firmware to support new tap gestures (or whatever you'd want to call them), depending on how the tapping system is implemented. If taps are sent as individual events to the connected iOS device (which then interprets them), then you could create an arbitrary number of individual tap functions without having to update the airpods at all.
*shrug*