The two ships passed through the Taiwan Straits last week. AIS was switched off during the passage. The route chosen was fairly along the centerline in international waters.
Chinese complaints about it, while hearable, were fairly sedate.
Taiwanese and Japanese media were a bit hype about it, American media ignored it and instead splurged on how the German Navy was joining their effort in the South China Sea (they aren't).
The ships are currently on a port visit in Manila Sep 16th to 19th, before continuing later today towards Jakarta.