Hello MBolton0,
Thanks for using Apple Support Communities! We see that you're having trouble with your AirPods audio cutting out, and we'd like to help.
You've done a good job with troubleshooting this issue! We've got a couple of other things to check.
Take a look at this article about Bluetooth interference to verify this isn't happening:
Resolve Wi-Fi and Bluetooth issues caused by wireless interference
Verify at Settings > General > About > Version, that your iPhone is using iOS 13.5.1, which is the latest iOS.
Update your iPhone, iPad, or iPod touch
Can you verify if this only happens on phone calls, or if it also happens when listening to music, or something else?
Have you tried to Reset your AirPods? If not, go ahead and do that to see if the issue is resolved.
Thanks!