To check your AirPods Pro firmware version, connect your AirPods Pro, then:

– Go to Settings > General > About
– Tap AirPods Pro

No way to force an update. Mine were updated by the time I checked.

See also, this Twitter thread from Gui Rambo:

I’ve not had a problem with my AirPods Pro, but I definitely feel like the phrase should be Noise Reduction and not Noise Cancellation. With Noise Cancellation turned on, I can still hear background noise, though it is definitely reduced.

If you are having issues with active noise cancellation, here’s Apple’s support article, for what it’s worth.