Airpods pro connecting multiple devices

I have three devices I would like to connect my AirPods Pro to;

MacBook Air

iPhone 8

iPhone 8 plus

The first two devices are provided by my work, therefore use a work email address for the Apple ID. The last device, the plus, is my personal phone and uses my own Apple ID. My question, is can the AirPods be connected to these devices without manual switching?

For example, listening to Spotify on my personal phone, I get a call on my work phone and can answer using the pods control and not manually switching. Then can use the headphones on my laptop for an online call without switching, etc.

I would prefer not to have to use my personal Apple ID on all devices but I would if that was the only option - the idea is not to have to select the pods on every device when I want to use them

Thanks!