Hey there iamsleepy,
Since this is happening primarily when using Zoom, are you able to try using a different application, including a native Apple app as well to help isolate this between Zoom, the AirPods, or the Mac? Also, another test you can try is using the AirPods with a different device and try using a few apps to see if there are any issues there.
Should you continue to notice issues, remove all Bluetooth devices from your Mac and only pair the AirPods. Test again to see if that helps if there's any interference.
If all the tests come back and the AirPods seem to be the issue, go ahead and reset them and test once more. The steps below will help with resetting:
1. Put your AirPods in their charging case, and close the lid.
2. Wait 30 seconds.
3. Open the lid of your charging case, and put your AirPods in your ears.
4. Go to Settings > Bluetooth. Or go to Settings > [your AirPods].
• If your AirPods appear there as connected, tap the More Info button next to your AirPods, tap Forget This Device, then tap again to confirm.
• If your AirPods don't appear there, continue to the next step.
5. Put your AirPods in their charging case, and keep the lid open.
6. Press and hold the setup button on the back of the case for about 15 seconds, until the status light on the front of the case flashes amber, then white.*
7. Reconnect your AirPods: With your AirPods in their charging case and the lid open, place your AirPods close to your iPhone or iPad. Follow the steps on your device's screen.
How to reset your AirPods and AirPods Pro
Take care!