AirPods Pro disconnect from iPhone after using with iPad

Use the AirPod Pros with my iPad. Then, sometimes, they will not reconnect to the iPhone. I must go into Bluetooth, delete, then toggle Bluetooth odd/on, then add AirPods back. This sometimes fails multiple times. No issues on other devices.

[Re-Titled by Moderator]

Original Title: AirPods disconnect every few days only from my iPhone. I use them between my iPhone, Mac and iPad. This seems to happen when last used with my IPad, they never have to be reset to connect to the iPad or Mac. I must delete and reset them on iPhone.