Only when you pull them out of the case. Otherwise they just stay asleep. When I replaced my Powerbeats Pro (same fundamental tech as any AirPods) with AirPods

Only when you pull them out of the case. Otherwise they just stay asleep. When I replaced my Powerbeats Pro (same fundamental tech as any AirPods) with AirPods Pro, I went about a year or so without touching the Powerbeats Pro and they just sat in one spot not too far from anything they could connect to since I never unpaired them from anything. I pulled them out a year later, and the Beats themselves were still fully charged and I think the case was still about 70%. Couldn’t tell you what I had left the case at though.