This beta solved 1/2 of my AirPods Pro problem with both iOS 15 and iPadOS 15. Before this beta my AirPods Pro had to be re-paired with either device every time I wanted to use the AirPods Pro. As a result, no easy switching. After today's beta, I no longer need to re-pair. However, I still have to disconnect with the device that's currently using the AirPods before I can use them with the other device. So, 1/2 of the problem solved.