I got my AirPods back when the original ones were released and the experience probably was as good as physically possible (short of including multiple radios so they can maintain connections to multiple devices in parallel and simply mix the audio client-side).
They then (2 years ago?) released this new feature where AirPods could automatically switch between all your devices which is just too slow and is more of an annoyance in practice, but even disabling the behavior made the existing experience much worse: https://news.ycombinator.com/item?id=30085538