For anyone else having issues with 15.4
I had a ton of problems with 15.4 on a iPhone 12 Pro using AirPods Pro, they continued to disconnect right after 30sec to 1min and the device was not visible in the list of bluetooth devices.
So I went on and tried it on my phone at work which is a iPhone 7 with 14.6 and it worked perfect so I restored my 12 Pro to 15.3 and it seems to work really good now.