Airpod Pro V2 case chirps when I pick it up
My Airpods Pro V2 case sometimes "chirps" (beeps) for ~15 seconds when I pick it up in the morning. It happens about once a week, and it wakes up my wife. It is like someone is using the "Find My" app to make the Airpods case emit noise, but there's no notification on my iPhone, or on any device in my "Family" group (Settings > Apple ID > Family).
How can I debug this? Thanks!