Airpods pro connection problems with multiple devices

Hi all,

I just bought AirPods Pro, and I'm not sure I properly understood how the automatic connection works. I've got an iPhone XR and an iPad (6th gen). Most of the times, when I extract the airpods from the case they only connect to the last device used, and for the other device I need to manually select them from the airplay menu or from the bluetooth menu. Sometimes they connect to both, but they take a while to connect to the device that was not connected as last. I don't understand if it's normal.

I've tried to reboot both the devices. They are on the same AppleID and they are set to connect to airpods pro automatically. What I noticed is that this issue is mainly presenting when not using airpods for a while. After the reboot, or if I place the airpods in the case and extract them again, they will immediately connect to both devices (under bluetooth settings they result as "connected").

Does someone have the same problems? Is that normal?

Thanks in advance.

Alessandro