I have a similar but slightly different issue.
I can get Audacity to recognize my airpods…
Go to: Transport → Rescan Audio Devices
This should at least bring the airpods into the output dropdown menu.
However, my problem is that the sound pops and cracks as though there’s a gain distortion. I can hear the audio clearly and loudly… but with the very annoying pops that are not in the file when I use plugged-in headphone or play from the computer’s built-in speakers.
Any guidance?