Airpods Pro 2 don't work with iPhone, without restart

Thank you for your reply, and info.

Re: "Turning off/on bluetooth has helped in some occasions, but not always. Sometimes a full iphone restart was required".

If you haven't already, you may want to try re-setting the AirPods Pro 2:

How to reset your AirPods and AirPods Pro - Apple Support

Eg: says:

"Reset your AirPods Pro 2:

1. Put your AirPods in their charging case, close the lid and wait 30 seconds.
2. On an iPhone or iPad that's paired with your AirPods, go to Settings > Bluetooth:

• • If your AirPods appear in the My Devices list, tap the More Info button next to your AirPods, tap Forget This Device, then tap again to confirm.
  • If your AirPods don’t appear in the list, continue to the next step.

1. Open the lid of your charging case.
2. Press and hold the setup button on the back of the case for about 15 seconds.
3. When the status light on the front of the case flashes amber, then flashes white, you can follow the steps on your device’s screen to reconnect your AirPods."

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Re:" I assume that the airpods are up to date "

Either the AirPods Pro 2 have the necessary firmware, or they don't

According to the linked article supplied above, they need version 7E93.

Please check whether or not firmware is the cause (and solution) of the issue you have.

ie: Go to Settings > Bluetooth, then tap the Info button (i) next to the name of your AirPods. Scroll down to the About section to find the firmware version.

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Re: "Wdym by "only connecting AirPods to one device at a time".

If the AirPods are in use by iPad, they can't connect to iPhone at the same time.

If they don't switch automatically, try browsing the article below to trouble-shoot.

Switch your AirPods to another device - Apple Support

or you can

"Switch manually

You can manually switch your AirPods to another device. Make sure you are wearing your AirPods near the device you want to switch to when trying to switch devices.

On your iPhone or iPad

Tap the AirPlay button on the Now Playing screen, the Lock Screen, or in Control Centre on your iPhone or on your iPad, then choose the device you want from the list.

(AirPods will only appear when they’re nearby and ready to use.)"

Re: Airpods Pro 2 don't work with iPhone, without restart

You might want to check that you are only connecting AirPods to one device at a time.

(Eg may not be switching between multiple devices.)

      See if turn off / turn on bluetooth helps

      or     

See how to: Switch your AirPods to another device - Apple Support

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To side-step troublesome issues: It is wise to keep the AirPods firmware up-to-date,

(and also update to the newest compatible OS versions on the devices you use them with).

Given the right conditions, (ie: AirPods connected to power overnight with the iPhone connected to wi-fi close by) AirPods will update automatically. More info: About firmware updates for AirPods - Apple Support

Thank you kindly for your replies, and for checking everything suggested.

Re: "It is getting really annoying having to restart my iPhone everytime I want to use the AirPods".

If you want to:

(1) You can try contacting the experts at Apple AirPods Support:

There is a "Get Support - Start Now" link at the bottom of their website

AirPods Support - Official Apple Support

(2) You can send feedback to reach those who work behind-the-scenes at Apple. (You  could also include a link to this discussion thread.) Your feedback will be carefully read, and logged. If others are experiencing similar issues, and Apple has details of which hardware and software is affected we may see an update which addresses the issue. Web-form for: Feedback - AirPods - Apple