Yup I'm chatting with Apple Support right now about this issue, my right AirPod Pro starting doing it about two weeks ago, haven't had time to research it until today.
But I was already familiar with this problem as my friend had to get one of his replaced too for the same thing.
(30 mins later) Ok, they're sending me a new Right AirPod Pro. They put a temporary charge on my credit card then when I return the broken one, refund the charge.
That's crazy if you can't wear these and cough though...I have Bose QC 35 II's and never had an issue, obviously those aren't in-ears, but still. I will baby the new AirPod.