Hi, the "Connect to this iPhone" option is missing from the Airpods Pro bluetooth settings menu. It allows you to set whether you'd want your AirPods Pro to connect to your iPhone automatically or manually after disconnecting them from another device (I replied to this post with my specific use case). This was a very useful feature and I'm hoping iOS devs can bring it back in the next update.
If it helps, I'm using an iPhone 12 on iOS 15.6. The last time I saw the option was in iOS 15.4.1. The option went missing after updating to 15.5.
Thanks.