To be fair, the default behavior does exactly what I want: Disconnect me from a broken Wi-Fi network/Bluetooth headphone/speaker implementation that is hijacking my audio output, without breaking "Find My", Airdrop or Wi-Fi geolocation.

AirPods can stay connected, which is maybe unfair towards third-party vendors, but they also don't insist on connecting to all paired devices at once and usually pick the two wrong ones and steal audio from whoever in my home is using that device at the moment.