Hi Daniele,
I'm Sumit, here to answer your query at the Microsoft Community.
Please trigger a rollback on both Bluetooth and Sound drivers.
Press Windows key + X and select Device Manager.
Locate Bluetooth and expand it.
Right-click on your Bluetooth device and select Properties.
Go to the Driver tab and click on Roll Back Driver.
Similarly,
Right-click on your Audio device and select Properties, under Sound Video and Game controllers.
Go to the Driver tab and click on Roll Back Driver.
Setup your Airpods again and see if the issue resolves.