Hey solomani,
When you received your replacement AirPods Pro, did you use the steps in this article to set it up with? Set up your replacement AirPods or charging case - Apple Support
"Set up your AirPods or charging case
- On your iPhone, iPad, or iPod touch, go to Settings > Bluetooth and tap the Information button
next to your AirPods. - Tap Forget This Device.
- Tap Forget Device, and tap again to confirm.
- Put both AirPods in your charging case.
- Open the lid and check the status light. It should flash amber.
- Press and hold the setup button on the back of the case for a few seconds. The status light should flash white.*
- Go to the Home Screen on your iPhone, iPad, or iPod touch.
- Open the case—with your AirPods inside—and hold it next to your iPhone, iPad, or iPod touch. A setup animation appears on your screen.
- Tap Connect, then tap Done."
If not, give those steps a try and see if that message stops appearing.
Feel free to get back to us with any questions or problems you may have.
All the best.