This is actually the exact opposite for me. Rubber tipped buds will not stay put in my ears when I move around, while the original airpods models sit within my ears and don't fall out unless I'm doing cartwheels.
I've also heard that the most recent AirPods Pro fit much better for people who have had problems in the past—I think because their rubber buds also have some foam in them, to help them create a better seal.