Siri always needs to be activated twice

I'm using an iPhone 16 pro

Whenever my phone has been idle for a while, Siri refuses to answer my questions the first time I activate her. I say "Hey Siri" and the animation will happen, but then she won't respond and doesn't seem to listen to my question. When I wait for the animation to end and then immediately activate Siri again, it works with no issues.

Siri works fine when using my Airpods.

Steps I have taken:

1. Restarted my phone
2. Retrained Siri
3. Tested turning on/off pretty much every relevant setting I could find, including "Always listen for Siri" in accessibility settings
4. Deleted my Siri & dictation history
5. Updated my phone to iOS 26

The only thing I haven't done is a full factory reset, but for obvious reasons I'm not willing to try that unless I can get a guarantee that my problem will be solved.

Does anyone know of a possible solution I haven't tried yet?

Thanks in advance.