March 24, 2021 11:05 EDT PM
Yes, if both devices are on the same iCloud account the Airpods will often switch automatically between the devices. If the switch doesn't happen automatically you can quickly select the AirPods Pro from the Control Center / AirPlay menu on the respective device without needing to use the Bluetooth settings to disconnect/reconnect.
If I'm at my desk and a Facetime or cell call comes in (on Mac, iPhone, & iPad) and I click on the Airpod to answer the call it'll be answered on whichever device the Airpod(s) is currently connected to. For the most part it's pretty seamless.