MacBook loses connection with AirPods

I have a new-ish MacBook Pro M4 I got July this year, it's brand new as well as my AirPods Pro 2 USB-C, but I've experienced a very annoying issue where I have my AirPods on and be watching a movie, video or listening to music and all of a sudden I hear a weird and small interference and my AirPods' sound will disappear; I can turn up/down volume, change between noise cancellation, transparency, etc. but cannot hear any sound. The workarounds I've found are:

• Connect to my phone, play something for a brief 2 seconds and then come back to my MacBook and the sound will restore.
• Take off my AirPods, put them in the charging case (not just taking them off, it won't work), wait for 2-3 seconds and put them back on; sound will restore.

I've reset my AirPods, restarted my MacBook and even took the AirPods to warranty where I bought them and they said they're fine, got them back and still experience this annoying experience. They're about 2 months older than the MacBook so there's little to no usage from them.