Check for potential Wi-Fi and Bluetooth interference nearby. You can try it elsewhere, such as outdoors, to see if the same problem occurs. You are advised to reset AirPods. It is recommended to try to change other audio source App to check whether the problem still occurs.
If possible, try to replace the AirPods with another compatible iPhone and see if the problem still occurs.
If possible, try replacing other AirPods with your iPhone to see if the problem persists.
What happens is that it overloads when it's charging, causing it to get hot, and then there's a response