When Apple introduced iOS 14 they also confirmed that the AirPods second generation and AirPods Pro were getting an update that allowed automatic switching between devices depending on which device was being used.
Unfortunately getting the update can be a little tricky however, we have tried and tested this method with a few people and it is currently working.
Ensure your AirPods are in the charging case
Plug in the case to charge
Plug in your iPhone to charge
Allow a short time for the software to update
Press and hold the pairing button on the case and re-connect your AirPods to your iPhone or iPad
You should now see the new update and can enjoy the new feature.