I’m having this issue often with my homepods. It seems to happen when I try to airplay or handoff from the phone to the HomePod. It works as expected, but when I stop playing music and later try to play from the control center, it is stuck on connecting. When this happens I am still able to control them with “hey Siri”. Restarting my iPhone fixes it, but this is happening almost on a daily basis and would like to find another workaround. Putting the phone on airplane mode doesn’t work. Anybody having this issue?