AirPod Pro 3 keeps popping up

My AirPods Pro 3 constantly show the battery pop up on my iPhone the one that normally appears when you open the AirPods case and shows the battery percentage for the AirPods and case.
The problem is that I’m not opening the case when this happens. The popup will randomly appear on my phone while the case is closed and sitting untouched.
I’ve already tried resetting the AirPods, forgetting and reconnecting them, resetting my iPhone, and cleaning the case, but it’s still happening.
Has anyone else experienced this? Is there a way to stop the battery popup from randomly appearing?