AirPods continually disconnect while listening to audio/music

My AirPods continually disconnect while listening to audio/music. While listening to mainly audiobooks on the audible app, my AirPods just stop. I have to stop what I am doing, reopen the audible app (or whatever I’m listening to) and press play again. My iPhone 7+ is within 10-15 feet and AirPods have plenty of charge available. This NEVER happens with my other BT earbuds. I have removed the AirPods from my bluetooth list (forget this device) and reconnect - same problem. I’ve removed it again, rebooted iPhone - same issue. Just to be clear, this happens regardless of what I am listening to: music, podcasts, audiobooks. It does not happen every time but frequently enough to be very annoying. Is there a way to “update” the AirPods to address this issue? These are less than a year old.

I don’t use my AirPods for calls because the other person can’t hear me well enough 😟

Just prior to writing this question, I put my AirPods in and they kept doing the connected/disconnected sound/beep for nearly 5 minutes. I didn’t start playing anything, just put them in my ears. I know I’m not the only with this issue. Please help.

TIA for onpoint reliable help 🙂