AirPods 2nd Generation Connection Issues

Hey everyone,

I'm having issues with my AirPods 2nd Generation. I'm using them with my iPhone, iPad, MacBook and Mac mini.

When using them with every of those devices except the Mac mini, I can connect to them simultaneously and can easily switch between those devices. However when the AirPods are connected to any device, I cannot use them on my Mac mini. To connect them to the Mac mini I have to disable bluetooth on all devices that connected with them. I'm running the latest iOS, iPadOS and MacOS on all devices. Does anybody know what might be the issue?