No version of Applecare covers lost or stolen Airpods. Applecare+ will help with the cost of damaged ones.
Ask your insurance agency about replacement if you think it is worth it. Usually it won't even meet the deductible.
Replacement instructions for lost items are provided at the bottom of this support article "If your AirPods are lost: --> https://support.apple.com/HT207581 Neither the warranty nor AppleCare+ covers the cost of Airpods that are lost.
1. If you can't find your AirPod or Charging Case, or if something is damaged, get the serial number. Click on this link to discover how to find it --> https://support.apple.com/HT209371
2. Contact Apple Support for a replacement. Click here --> https://getsupport.apple.com/?caller=kbase&PGF=PGF32003&category_id=SC0298
(You may have to go to the support article in my first link for the special Airpod replacement service link if that one doesn't work.)
3. Learn how to set up your replacement.
Set up your replacement AirPods or charging case - "When you get your replacement, follow these steps to use your AirPods again." --> https://support.apple.com/HT207827