AirPods 1st Gen disconnecting after a few seconds

I had my AirPods 1st gen for over a few years when suddenly it started to disconnect after 5-20 seconds after when I put them in my ears.

The disconnection happens after a tick in my ears. The firmware is updated and it happens when one of each is in the ear or both. After the disconnection, it won't pair until I put the Airpods in the case, close it and open it again.

I have not seen any solution for this after searching the whole www. At least, I should think Apple should tune in to the issue if they really honor how the 1st generation of iPhone was born by their great idol Steve.

RIP Steve,