AirPod audio deteriorates

So I bought new AirPod Pro 2nd Gen and ever since I bought them when I’m driving in my truck the audio gets horrendous after a few minutes no matter if it’s music, audio book, radio app etc, when the audio deteriorates if I tap the screen to awaken the phone the problem goes away for a few minutes. I’ve had them replaced at apple this week and the problem came back last night after using them for 4 hours without problem and I think I know why.

Last night my Tom Tom wouldn’t connect via Bluetooth so I connected via WiFi hotspot for the live traffic updates and I had no problem for 4 hours without the audio. On the way back up the road when I restarted the truck the Tom Tom connected via Bluetooth as normal and sure enough 5 minutes pass and the audio is dreadful so connected via WiFi and it was fine ! Is there anything I can do to sort the bluetooth connection out? Other connections at the same time are iWatch ultra, sometimes a Bluetooth receiver and the truck itself . Never had these issues with my first Gen AirPods or first Gen AirPod pros so this has became an annoying surprise!