Also have this issue. Just got Airpods 3 yesterday from Santa and noticed it immediately in the right ear when putting in the buds before even playing first song.
I updated the firmware to the latest and that did not solve. I tried the background noise (rain to 0% workaround) and that did not fix the issue either.
I went to Apple store this morning, they swapped out just the right ear bud and then I had to put them back in the case so the right one would update it’s firmware so they could be re-paired with my phone.
Sadly, it is exactly the same that did not help.
Going to return them to Amazon and try a full new set. Otherwise will have to sit these out for a while until they are fixed.