I think that was an issue on the earlier airpod pros and they had/have a replacement program for that issue: https://support.apple.com/airpods-pro-service-program-sound-...
I recently had my pre-Oct 2020 pros replaced with new manufactured stock under this support program. Within less than a month the replacements developed the same sound issues, supported by Apple's diagnosis and another free replacement.
I don't think I use them in an unusual way - I don't even wear them during exercise. There is just something inherently flawed in the design that causes the sound quality to subtly degrade by a significant amount.