Yup you can connect AirPods to a PS5, but not all at once depends on what exactly you want. If you just want audio (game sound, chat, etc.), the most dependable way is via a Bluetooth dongle/adapter plugged into the PS5 controller or into the console’s USB port. I tried it with a generic Bluetooth adapter and my AirPods Pro — works like a charm, low latency and everything. Without an adapter, I didn’t get any sound.