Left airpod will not connect without the right airpod being connected first

My left airpod will not connect unless I am wearing the right airpod first. The audio works fine through both airpods, but after I remove the right airpod and keep the left airpod in, it disconnects both airpods from my iPhone.

The airpod case and both left and right AirPods are charging perfectly fine. My iPhone can still detect all charges on the case, left, and right airpods.

I have disconnected my AirPods from all connected devices twice through “Forget This Device” in settings.

I have Reset my AirPods while connected to my iPhone and after I went through the “Forget This Device” process.

So I have tried everything that I have found Apple support recommending to fix this problem, but nothing has improved or even changed.

I have connected my left airpod without using the right airpod first by selecting the airpod option after selecting the Airplay button in my control center. It works fine that way, but the problem itself without relying on the Airplay option is still unchanged.