If normally doesn’t include twisting them as shown in the Tips app that comes on the iPhone, I suggest trying that ?. I almost returned the AirPods 3 because I didn’t like the fit when I wore them straight up and down until I saw this video. These are my first pair so I wasn’t used to doing that. I just popped the EarPods in and out since the mic is on the wire which naturally pulled them forward. After doing the twist (?) I did my best Beavis and Butthead headbanging impersonations and couldn’t pop them out.
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I did find the Air Pods Pro fit much better if I aimed the stalk parallel to the ground. I was surprised, and tried them in several different orientations, and facing forward just worked better. They looked funny, but seemed to work better, stayed in longer, sounded better. Weird. The AP3 pop out just sitting and talking or changing facial gesture. YMMV, obviously. The originals stay in so much better than most of the other Apple/Beats models.
So far, the PowerBeats Pro, Beats Fit, and gen 2 AirPods are the best fitment for me.