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I've had to do this repair myself, so I can tell you pretty definitively that you need to replace the part called a buckle lock on each of the joy-cons. The ones that come with the unit are plastic and since they contact against the metal rails the joy-cons slide into, they eventually wear out and won't hold the joy-cons in place any more.
The good news is you can buy replacements made of metal that will never wear out again.
The bad news is no, you can't do it without opening the joy-cons. The replacement isn't particularly difficult, but you do have to pay attention to which buckle goes in which side, as the two are different and if you put them in the wrong side they don't work. iFixit already has a replacement guide all ready to go for you.
Joy-Con Buckle Lock Replacement - iFixit Repair Guide
Here's a link where you can buy metal replacements for $4.99 USD (at the time of this writing).
Nintendo Switch Joy-Con Replacement Metal Buckle Locks - iFixit Store
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Cries my self to sleep
Thank you for the answer
JERRY WHEELER YOU ARE THE MAN!!!! I was terrified that the buckle lock wasn't my problem, but turns out I was using the wrong one! You literally saved my life.
@hannahfort LOL, you should be aware that the reason I know that fact is that I put them in wrong and found out they didn't work. It wasn't till I took them back out again I realized they are different for each side. I didn't feel it necessary to let people know I'd made a stupid mistake in this post, but on others I've told folks "don't be me".
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