My AirPods Pro started playing up this week. At home, they would connect but sound continued to output from the iPhone. I installed iOS 14.5.1, no change. I unpaired and re-paired the AirPods, no change. Even weirder was that I was not having any issues using the AirPods at work. This morning at home, again they wouldn’t work. So I continued googling and trying a few things, and then something worked.
From home I called my work phone, the dial came through the AirPods. I ended the call then tried to play Pocket Casts and RadioApp and voilà, sound coming through my AirPods at home for the first time in three days.