Not that in control center, you can tap and hold or force touch the music widget, then tap the “output” button at top right, then tap on your AirPods to quickly switch them to iOS device if they’re not currently paired.

Yeah, and in theory you can do so in-call as well. I've found both methods to be unreliable.

I’ll be honest about the call option. That doesn’t work for me 99% of the time.

nice, i always wondered why you couldnt do this with a force press on the bluetooth icon

now i know

What I do is put them back in the case real quick and open it near my iPhone. That seems to do the trick though it’s arguably not much better than going into Settings.

I've tried this many times, but it doesn't ever seem to actually work. If my Mac is nearby, it immediately steals the pairing back, even if they're not the most recently selected audio device on the Mac.

Selecting a new audio source from the swipe up menu seems to work pretty consistently for me.

I find it works better if I disconnect them from Mac first.