It has happen to me also with my iPhone Xs Max. I contacted the Apple Support and they contacted with their engineers to see what the issues and how it happen. This happen before the iOS 14 Beta 4 came out. I tried many things to fix such as: Forget device (on my AirPods Pro) and try to reconnect (NOT WORKING) Hard Reset (NOT WORKING) Turn off the bluetooth and restart the phone (NOT WORKING) Reset Network Settings (NOT WORKING) Factory Reset and restore (NOT WORKING) (The restore didn't going so well because I try to restore from my iCloud and it didn't show up my backup.. so thats when I decided to downgrade) Downgrade to iOS 13.6 (NOT WORKING) The Apple Senior Advisor told me that this issues can be fix but they don't know for how long tho. I guess we need to be calm i don't know hahahaha