I followed the advice of someone in this thread. As soon as I turned the bluetooth off of my watch the airpods connected with no issue at all. Before that they would connect but no audio would play, it would cause apps to crash if they tried to use audio.
To fix it I turned bluetooth off of my watch, put it in airplane mode (not sure if that did anything), connected to my airpods and played audio, and then went back on my watch turned bluetooth back on and airplane mode off. And they magically worked after! Apple needs to get this fixed! you should be able to connect to more than 1 bluetooth device