AirPod volume low on the ear
My AirPods 1st gen have low volume when in the ear, but I can hear them better on the outside part. If I invert them and put them in my ear they clearly start sounding better.
AirPods (1st generation)
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Try cleaning the AirPods gently with a soft, dry brush or a lint-free cloth. You can also recalibrate the volume by lowering the volume to zero, disconnecting the AirPods, and then reconnecting them.