Hi othompson,
MrBill3's advice will not work for you. The problem is they are sending out replacement airpods with a firmware that is not yet released. See the long thread that includes "2D3". So no matter how long you try to do the recommended approaches, you will not be able to sync the two together. You will, however, be able to sync the new replacement airpod by itself, if it is the only one in the case. Then, you can search settings -> general -> about and check the airpods firmware. It will likely show 2D3, meaning you wont be able to sync it and it will remain flashing amber when in the case with your existing airpod.
I think apple is aware of this but getting it fixed is frustrating because the replacements are often sent with the 2D3 firmware as well. Several of us have been back and forth on this with tech support for days now.