AirPods Pro do not have their own GPS, so Find My will report the position fix of the iPhone or other device which is connecting them. That means they will be within about 10 metres of the device which is reporting their location. Getting closer than that needs you to search with your eyes.
If you are lucky you might be able to use Find My to play a sound from the AirPods to help the search. However, AirPods Pro original version use the AirPods to make the sound so if the charging case is closed it is not really audible. AirPods Pro Gen2 added an external speaker in the charging case.