One of my AirPods Pro has an annoying tick. It's like a metronome (regular) and orthogonal to the music I'm listening to.
I've taken it to the Apple Store, but instead of the service rep putting it in their ear to confirm the issue, they use some machine that checks and, in my case, "computer says no!" to my complaint. https://www.youtube.com/watch?v=0n_Ty_72Qds
The rubber around the ear insert is changeable, so it wouldn't be unhygienic for them to listen directly.
Their refusal at an exchange has caused me to eschew trusting them for the new AirPods, and instead I've moved on to another brand.