Yes, it's working for me between my iPad and iPhone, both running iOS 14 and the latest AirPods 2/Pro FW update. Doesn't look like it's supported on 1st gen AirPods. It's also not working for Big Sur b6 but I didn't expect it to. Maybe Big Sur b7 will have it but that hasn't released yet.
I have the 1st gen AirPods , thank you for avoiding me a future headache ;-)))