I just had my right airpod returned and replaced under warranty, it's only a matter of time before the left goes.

It took me two hours to get a person on the phone, and we went through no less than 3 reset cycles. :|

Then the advisor told me I have to return it in person to an apple store (which is closed) or to an apple authorized repair store, and mentioned there will be a $29 fee, but fortunately for me, she was reading the prices wrong. Warranty returns/repairs should be free of cost. I asked for a supervisor, and was connected to someone who actually knew what was going on. He said they could mail the replacement and return packaging so I wouldn't have to come in. Second advisor was so helpful and knowledgeable. I'm just babying my left airpod before it goes.