Airpods Pro 2nd gen making chirping sounds

I've read the various posts about how to stop the airpods case from chirping. I've tried all the suggestions I found, several times. Sometimes they work for a while, but the chirps always come back. Are others also having this experience?

I do not leave Bluetooth enabled on my iPhone when I am not using the airpods. I've noticed that the chirping is particulary prevalent when the airpods and paired iPhone have been left undisturbed for some hours. Then simply moving the closed case with the airpods inside causes the chirps. If I then enable Bluetooth on the iPhone, open the airpods case, and quickly look at the Settings -> Airpods screen, the "Enable Charging Case Sounds" slider is in a "greyed"-green "on" position and cannot be changed by me. But after a moment it automatically reverts to the "off" position.

Is Apple aware of this behavior? I suspect a firmware bug.