I ordered these memory foam tips for the Airpods Pro and they are way more comfortable than the default silicone ones, although they take a couple minutes to fully take shape, so an initial “fit test” might fail.
Addenda
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Having said that last, the second time I used them today, they simply wouldn’t pass the “fit test” at all. I’ve no idea the degree to which they were actually failing in usage, although I assume the test is making use of the ear-facing microphone to determine how much sound is getting past the earbuds.
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Next up is seeing if using these helps keep either tip type seated better.