I haven’t seen anybody suggest this yet for cleaning, and I find it works really well…
https://www.gumbrand.com/gumr-soft-picksr-original-50-ct.html
You can get knockoffs at the dollar store if you really want to be cheap about it. But basically they’re a soft-ish rubber tip that can actually get in around the rim by the speaker (and in other small spaces), which gives you enough rigidity to clean while being soft/flexible enough that it won’t gouge up your Airpods.
Hope that’s helpful to somebody.