Airpods Gen 3 make connection ding but sound still plays out of my iphone speaker

This is only happening with my new airpod gen 3's. I still have my airpod gen 2's and they do not have this issue. I even put them back in the case, close the case and re-open it until I see the charging pop up for the case and airpods pop up on the iphone, still doesnt work. Ive been having to turn my phone off and re-start it to fix the issue which is super annoying because I have to do it all the time.