After 5B58 firmware update, things are just slightly better. Based on advice in this thread, I deleted my AirPod Pro 2 entry in my Samsung TV and re-paired. Now, connecting the AirPro Pro 2 headset works more reliably; however, I still lose the connection anytime the sound is interrupted (e.g., pausing, rewind/forward, switching shows, switching to another app, etc.). Just as before, if I've got a show going (sound playing) and connect the AirPods, they work; however, any interruption drops sound and I have to disconnect & reconnect the AirPods to get sound again. At least with 5B58, I don't have to repeatedly disconnect & reconnect through the TV, since putting the AirPods into their case and then putting them back on (while the show is playing) now seems to reliably get sound going again. Just slightly less annoying than it was before. Bluetooth between AirPod Pro 2 and Samsung TVs is still a horrible user experience.