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The title and discussion in the linked article describe this as "worse after firmware update", but the title here suggests Apple removed the feature entirely.

On my end, I've noticed I have recently been checking whether it was on or not. So, I am one more person experiencing some issue here.

Is there anything I can do to avoid this update?

Keep it paired to an Android, never pair to an iPhone or Mac device.

So, no suggestion then

Nobody is buying $250 flagship earbuds from Apple if they aren’t fully leveraging the Apple ecosystem. Plenty of competition at this level for other platforms.

I enjoy my Airpod 1s with my android phone. I can't imagine I'm the only one