Airpods 3rd Gen Robotic sound during calls. (People hear me fine, I hear them distorted/robotic)

I've had the Airpods 3rd Gen for about a year now, They work great in every scenario except during calls, they still work during calls but they will randomly make the audio I hear during a call robotic/distorted making it very difficult for me to understand what people are saying. The people on the other end can hear fine though.

They also started giving me the "Airpods Left Behind" error falsely very often and when I check I always find they are with me. (so I am not sure what is triggering this issue)

If anyone has any input on what could be causing these issues or how to fix them, I would be grateful.

Thanks in advance!