How can I set up automatic switch between Mac and Iphone for Airpods pro?

In a remote work environment I am constantly switching between my Mac and my Iphone, and it seems that I have to manually switch. Is there a way to set up the switch automatically? I have some old bose's which do it automatically, so I assume this is feasible among the Apple devices.

This was one of the main reasons why I purchased these earphones.

Thank you