How to update AirPods firmware
How to update firmware on AirPods
AirPods (3rd generation)
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"Firmware updates are delivered periodically while your AirPods are charging and in Bluetooth range of your iPhone, iPad, or Mac." - From: About firmware updates for AirPods - Apple Support
"When an update is available for the AirPods, they are automatically updated when paired to an iPhone running the latest software version. The update is not something that can be done manually." - From a May 2021 post by a Community Specialist My AirPods do not update - Apple Community
Read the support article About firmware updates for AirPods - Apple Support for tips about ensuring your Airpods can receive any updates. Try leaving them plugged in overnight near your iPhone.