AirPods disconnecting after no audio is played.

Hello, I have a problem with my AirPods Pro. They connect to my iPhone without any problems, but to keep them connected I have to play audio (for example a YouTube video). When no audio is played for about 30 seconds they disconnect and won't connect back. I tried charging them to full battery, forgetting the device and restarting my phone but nothing helped. The problem started only a week ago and before that I was using my AirPods with no problems for about a year. I'm using iPhone 13 with IOS 18.2.