AirPods Pro 3 connect to iPad, iPhone 16 Pro connection loop

My setup / issue

iPhone 16 Pro (256GB, black) on iOS 26.2.1

iPad (also on iOS/iPadOS 26.2.1)

AirPods Pro 3 firmware: 8B34

AirPods are paired to both iPhone and iPad.

After leaving the AirPods in the case for a while, when I take them out and put them in my ears, they auto-connect to the iPad, while the iPhone looks like it’s constantly trying to connect (spinning/connecting loop).

I tested on iPhone 15 Pro and iPhone 11 (same iOS version), and the issue does not happen there.

Other Bluetooth devices work fine with my iPhone 16 Pro — the problem seems specific to AirPods Pro 3.

What I already tried (still happening)

Turned off / powered down the iPad and tried using only the iPhone → same issue

Reset AirPods and re-paired → same issue

Reset Network Settings on the iPhone 16 Pro → same issue