IOS 14 sucks for this. AirPod pros will connect but crash my phone when opening any audio platform or try to watch any video with sound and randomly freezes my phone. What worked for me was forgetting all my Bluetooth devices and turning off my Apple Watch’s Bluetooth then repairing my AirPod pros first. Pretty lame work around but at least I know it’s not the AirPods. They work fine on my other phone running iOS 13.