Apple does not offer information on what’s included in refreshed firmware updates for the AirPods, so we don’t know what improvements or bug fixes the new firmware brings. There is no standard way to upgrade the AirPods software, but the firmware is generally installed over the air while the AirPods are connected to an iOS device. Putting the AirPods in the case, connecting the AirPods to a power source, and then pairing the AirPods to an iPhone or an iPad should force the update after a short period of time.
You can check your AirPods or AirPods Pro firmware by following these steps: