Don't know if this will help others but apple support helped me get mine going again.
This is what we did:
Went into settings > bluetooth > airpods pro and clicked the info button. Then "forget this device"
Went to setting > my name (at top) > Find my > Find my iphone > then turned off "find my iphone".
Waited one minute. Turned "find my iphone back on".
Grabbed the air pods case, opened it and held the button on the back for 10 or so seconds to enter pairing mode, and then followed to instructions on the screen to confirm pairing and then it worked.
Again, my problem might be different from others; but this seemed to work for me.