AirPods Pro audio cuts in and out while maintaining connection to MacBook

When my AirPods Pro are connected to my MacBook, the audio will randomly cut in and out without disconnecting. The audio is still playing according to the MacBook. For instance if I am streaming a video, the sound will suddenly stop, but the video will continue to play. Sometimes the audio will restart on its own and pick up where the video is currently (without going back to where audio was lost). Other times, the audio will not come back on its own, and instead I have to pause and play whatever I am listening to and the audio will come back.

This issue does not happen with my other apple devices (iPhone 12 and iPad).

I have restarted the MacBook, disconnected and reconnected the AirPods, unpaired and repaired the AirPods. I turn off the bluetooth on my iPhone to see if the bluetooth connection was interfering. I have checked to make sure that both my AirPods and MacBook are up to date on firmware and software.

This has been happening for a while now, and it does not happen every time I try to use them. Some days they work perfectly fine together, while other days they do not work at all.

Thank you in advanced for any replies.