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My Plantronics headset [1] has been doing most of this for years. I keep it connected to my work laptop and smartphone simultaneously and can take calls on either device with seamless switching. It also detects when it is on my ear or not.

[1]: https://www.plantronics.com/us/product/voyager-legend-uc

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It sounds like that's just taking calls on both devices, right? AirPods intelligently route all audio, not just calls, and it does it based on the notion of what your "current" device is rather than whatever device is emitting audio (e.g. if you're using your iPhone, AIUI it won't switch to your computer just because your computer started playing audio).

And the Plantronics BackBeat PRO headphones: http://www.plantronics.com/uk/product/backbeat-pro

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