I use these [0] and they're pretty high quality, very reasonable price, very long battery life, and low-profile enough that you can even lay on your side and it doesn't feel uncomfortable (for me at least) though I still only use it in one ear at a time, the one not on my pillow.

[0] https://www.amazon.com/gp/product/B07Q7SVYBQ/ref=ppx_yo_dt_b...

I find that Airpods Non-Pro will stay in when I'm on my side and when I roll over. I'm a terrible sleeper and change position a fair bit, but there's no problem falling asleep with them in. I often wake up with them both still in.