Unable to pair AirPod Pro with iPhone

My iPod Pros recently stopped connecting with my phone. I tried pairing them again, and that didn't work. I removed them and tried to reconnect, but now I can't connect. They show up in find my items as last seen two days ago, in the location I'm at. Is there a way to do a total reset in order to re-connect?

[Re-Titled by Moderator]