AirPods won't automatically connect to my iPhone

Most of the time when I use my AirPods, my phone doesn’t automatically detect the buds, and when I check Bluetooth, the AirPods connection is stuck at “Connecting…”. Only turning Bluetooth off, waiting a few seconds, and turning it back on temporarily fixes the issue, until it reoccurs hours later. I’ve already rebooted my phone, forgotten my AirPods and re-paired them, set “Connect to This iPhone” to “When Last Connected to This iPhone,” but nothing seems to be working so far. I doubt it’s an AirPods issue because 1 they’re new, and 2 I encounter the same issue with my old pair. For further details, my device is an iPhone 15 Pro, and I use a pair of AirPods Pro 3