AirPods Pro making loud beeping noise

Whenever I take the AirPods Pro out from the charging case, it makes a loud beeping noise. I put them on thinking it was just a glitch but now I'm afraid to keep them on after the incident occurred. It's so loud, you can hear it by just taking the AirPods out of its charging case. The cause for this I believe has not been solved since I did my own research online and could only find problem = solution scenarios within the common crackling noises the AirPods make due to interferences. This particular problem I'm having is unique and hopefully Apple can compensate me for another pair without taking money out of my pocket because this could damage my ear in the long term if I had not been so well prepared to understand technical issues when it occurs. This should not be happening and hopefully gain some insight as to why this is happening. I've checked the firmware and its up to date. I've reconnected them as well as resets procedures. Is there any explanation as to why this is happening?