Have a look at these:

https://teufel.ch/airy-tws-106491000

• <=$100 ✔️
• No third party companion app requirement ✔️
• Compatbile with Android (Pixel 6) ✔️
• Won't fall out of ears while exercising --> this mostly depends on your ears, they hold very good in mine..
• >=12 hours of battery-life ❌
• Sweat/water resistant ✔️
• (optional, but would be nice) Active noise cancelling ❌

Or if you are willing to spend a bit more than 100$: https://teufel.ch/airy-tws-2-107001394 They come with 9h battery life and ANC

Done for Switzerland 👍🏻