Got the same issue with the Powerbeats Pro. I thought I had a defective pair but after doing some researching, Airpods and Airpods Pro are having the same problem. I'm inclined to believe its a combination of IOS 13.2, the H1 chip and firmware on both earbud brands. We'll just have to wait till Apple fixes the issue if they ever figure it out.
I could believe the same. I've noticed this quirk with the Generation 1, which has the W1, but it seemed to appear in late iOS 12.x to now 13.x. The Generation 2, with H1 and is the same chip in the AirPods Pro, the issue is still existing for me. I've been trying to deduce if just to toss it up to a bug in the existing firmware, iOS software, or a combination of both. If anyone has this problem, then file a bug report or feedback with Apple. They will only look into this issue once they receive enough complaints.
Apple Feedback Assistant
However, this may help some and I can't say that this is a permanent resolve because of there being so many iOS updates, coupled with AirPods firmware releases, in the past few months. This seems to reduce the number of occurrences or eliminate until another iOS, macOS, or AirPods firmware update.
0. Remove AirPods from iCloud linked and Bluetooth devices.
1. Charge case and AirPods to 100%, leave connected to charger, and reset AirPods.
2. Reset Network Settings on all iCloud linked and Bluetooth devices.
3. Reboot all devices.
4. Pair the reset AirPods, while connected to charger, to iCloud linked and Bluetooth devices.
5. Pairing to an iCloud linked device should push the profile to others.
6. Test if problem reoccurs.