Dead AirPods won't charge in case without lots of wiggling

I have 3 pairs of AirPod Pros and this happens on all of them. I often wear my AirPods until they're dead. When I put them back in the case, I often come back later to find that they're still dead. What I've found is that whenever charging from dead, I have to wiggle them around 5-10 seconds to get them to connect. I never have to wiggle them if they still have some charge. The cases always have charge left. I've already tried cleaning them, but again, this happens on all of them, and is only a problem when charging from dead, so I wouldn't have expected that to help anyway. I've also tried resetting them, which I also wouldn't expect to help and doesn't.