AirPods (3rd Gen) won't connect to iPhone 16; charging case stuck at 1%

My AirPods won’t connect to my iPhone. I have the 3rd Gen AirPods and an iPhone 16. However, it connects to my iPad 11 (A16). Also, the charging case stays on 1% but charges the AirPods. When I attempt to connect it to my phone it says “Connection failed” and with my iPad it connects immediately. But since they’re on the same iCloud I thought it would be added to my devices and let me connect them to my phone. When I try that, it says to check if it’s on and in range.