AirPod Pros will only partially pair

I’ve reset my AirPods twice but I’m not sure how well it worked because every time both of the AirPods are in the case with the lid open, the light blinks red/orange and makes a sound. It won’t allow me to pair unless only one AirPod is in the case and then it only connects that one. Also, in the Find My app, it says that I have to finish set up but all of those steps are either completed or didn’t change anything when I tried.