I think you need to have the correct expectations for the AirPods. I have had a number of other headphones, from Bose, Apple, Jaybirds, JBL, etc. At this point, unless I need noise cancellation or I am seriously sitting down to listen to music, the AirPods are the headphones I use.
Why? Because they are quick, easy, sound pretty good, and allow me to hear things going on around me. If I am shopping, going for a walk, riding my bike, driving my car, or sitting in a restaurant and listening to music, AirPods are perfect. I don't want to be isolated from the world all the time. In these use cases, I am not actively listening to the details in the music anyway. Don't get me wrong, when sitting in your ears correctly, the AirPods sound much better than EarPods (which really aren't as bad as they are made out to be). There are much worse options for sound quality.
Now if I'm in a loud restaurant or airport or on a plane etc, I want to block outside noise so I can hear without turning the sound up too high. Then I use my Bose QC30 active noise cancelling headphones. I also use these when I want excellent sound quality and am actively listening to the details of the music. The QC30 are great for this, but not cheap. Also they are horrible for making calls, and the AirPods are pretty good at that.
AirPods are good for the gym or running/biking outdoors because they stay in my ears and allow me to hear anything coming up behind me.
I tried the Bose Soundsport Free and I agree they sound better than the AirPods. However, they are more expensive, they don't have noise cancelling or blocking either, they don't have auto pause when you remove one (a favorite feature), they are big and bulky, they fit in a bigger and bulkier case, and they don't rapid charge as well as the AirPods. They also suck for phone calls. All in all, the AirPods are the better compromise.
So I have found I need two sets of headphone - one for 80% of my day to day use (AirPods) and one for better listening and noise cancellation (Bose QC30 - but a wired set of in-ear noise blockers would be fine for this if you don't have the $ to spring for QC30's).