Always do when this happens. I blow into it, and there's no visible dirt on the metal contacts either. Also, a friend of mine also reported the same for their AirPods Pro 2.
Honestly the most frustrating thing about the pros tbh.
It is pretty hard to see in the case and what I found is even when it looked clean, when I used a tool to dig around a bit there was almost always some gunk in there causing the charging issues.