Need to reconnect AirPods Pro to iPhone every time since iOS 13.5.1

I've had not trouble connecting my AirPods Pro to my iPhone, but since my phone updated to 13.5.1, I now get a "connection unsuccessful, make sure turned on and in range" every time I try to use my AirPods Pro. The only fix seems to be to "forget this device" in Bluetooth settings and go through the whole process of reconnecting my AirPods Pro. Once connected, they behave normally until I put them away, and have to repeat the reconnect process next time I need them. Anyone else seeing this? My old AirPods (non-pro) connect just fine. I have iPhone XS Max. Any help appreciated.