Engrave AirPods at the Apple Store

If you do this yourself then it will likely void any warranty.

Actually your answer is here:

https://www.apple.com/shop/select-airpods

Shop AirPods

Free engraving available exclusively online.

So you can get engraving online but not in the a store.

I am not clear on what Jonathan Burger was trying to say.

According to https://www.apple.com/shop/engraving-and-gift-wrap yes, but I think not in the store, only online. In the store they would have regular ones in stock.

If they let you bring in a Dremel tool, once you buy them they are your to do what you will with them.

Apple won't do it for you.

That if he wanted to whip out a dremel tool at the store and do the engraving himself, they probably wouldn’t stop him if he paid for them first.