Left* AirPod Pro does not charge/connect properly

As of July 9, 2020, I am on the most recent software for the AirPods pro. Pre AND post update, I have been having a reoccurring issue where the left AirPod will not charge properly. Often, I will open the case after a few hours of charging and the right pod will be on 100% while the left is close to 0%. The case has been cleaned and there is no debris blocking the connectors; I take care of my AirPods (no drops or water damage) so there should be no reason for this.. Is this a software issue, or a hardware issue, and is the only solution a replacement? Thanks.