I’ve re-paired them and updated drivers but the audio still stutters every few minutes, and it’s getting old.
I actually had the same stuttering on Windows 11 and it drove me nuts. I re-paired, updated drivers, turned off hands free telephony, disabled audio enhancements, and unchecked Bluetooth power saving, but it still cut out every few minutes. What finally fixed it was bypassing the Windows Bluetooth stack by using the USB dongle mode on SW4 40ms which gives a dedicated link with about 40 ms latency and the dropouts stopped.
If the wireless link is fine and it still hiccups every few minutes you might be hitting DPC latency spikes from drivers. I ran LatencyMon and it pointed at my Wi Fi driver and the Nvidia audio bus. Updating one and rolling the other back stopped the stutter. As a quick test toggle airplane mode and play music for a bit if it smooths out then the network stack is likely the culprit. You can also try turning off spatial sound and audio enhancements and unchecking exclusive mode in the device properties. No more hiccups.
Disable the headset hands free mode so only stereo stays active and stop background apps from grabbing the mic. Turn off multipoint and use performance power settings so the wireless adapter does not sleep which stopped the stutters.
I chased this for weeks and it turned out to be plain old radio interference. Bluetooth and 2.4 GHz Wi Fi fight each other, plus USB 3 gear can be noisy. I moved my PC Bluetooth antenna away from a USB 3 hub and an external drive, switched my router and Wi Fi adapter to 5 GHz only, and changed the 2.4 GHz channel to something less crowded. Also disabled USB selective suspend in the power plan and unchecked the power saving box on the Bluetooth adapter in Device Manager. Instant improvement. The dropouts stopped unless I was standing right next to a microwave.