AirPods Pro 3 randomly connect/disconnect on iPhone 17 Pro

I just got the new AirPods Pro 3 and I'm pairing them with an iPhone 17 Pro, but recently they've started connecting and disconnecting randomly, especially during phone calls or while listening to Spotify. These AirPods have only ever been paired with this iPhone and have not been connected to any other devices. I have already tried hard resetting the AirPods, disabling "Automatic Connection" to the iPhone, selecting "Forget This Device" to re-pair them, and restarting my iPhone, and both devices are completely up-to-date on the latest firmware. Why does this keep happening, and is there anything else I can try?