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Afterward, put your AirPods in the charging case, open the lid, and follow the setup process to re-pair them.
Source: https://www.devicemag.com/airpods-max-connection-failed/
To re-pair the remote, hold it about three inches from the Apple TV and press and hold back/menu + up for at least five seconds.
Source: https://www.devicemag.com/how-to-pair-apple-remote-with-macbook-air/