AirPods Pro call audio defaults to iPhone speaker

Airpods Pro 3 with iPhone 16 Pro. Both fully updated. Airpods are connected to iPhone. When call is received it is announced through the Airpods. I do the nod guesture and the call is answered. The sound is default to speaker. I have to manually switch to Airpods on the phone.

I've reported this issue to Apple, but curious if anyone else is experiencing this or if there's some setting I'm missing.