You need to have a Mac with the appropriate Secure Enclave hardware and running the latest OS.
> After you set up your AirPods with one Apple device (like your iPhone), your AirPods connect automatically to your other Apple devices where you’re signed in with the same Apple ID.
Note the use of "like" - not exclusively.
Pair AirPods with Mac
Before you begin, make sure your Mac has the latest version of macOS installed.
Open the case with your AirPods inside, then hold it next to your Mac.
Press and hold the setup button on the back of the AirPods case for about five seconds, or until the status light flashes white.
On your Mac, choose Apple menu > System Preferences, then click Bluetooth.
In the list of devices, select your AirPods, then click Connect
Note that the pairing of the AirPods to the Mac is done at the system level - not something that a user can run because it reaches into that Secure Enclave. Thus, to do this, you need a Mac that is running the latest OS. It also might be restricted to certain hardware ( different feature specs with https://support.apple.com/guide/security/secure-enclave-sec5... )
