Right AirPod disconnects from my phone with 50% charge

Recently my right AirPod disconnects from my phone with 50% charge. I have reset network settings on phone, reset my AirPods and nothing. It happens with ALL devices it is connected to so it is definitely the AirPods. I have cleaned it and the charging case but that didn't help. Also, when I put it back in the case it charges to 99% as soon as I put it back in. Not sure how or if this issue can be fixed or if I need to replace them.

[Re-Titled by Moderator]