How do I unlink my AirPods Pro 2 from an Apple ID?

"Last summer, I bought the AirPods Pro 2, initially linked them to a friend's phone, then re-linked them to my own Apple ID. I used them for several months but lost the left earbud on the road, where it was hit by a car. In desperation, I clicked 'Forget Device' without knowing I could buy a replacement earbud separately. Later, I learned about this option, bought a replacement, but when trying to connect, I received a message saying the device isn't mine.