Personal men issue

I face an issue when I wear sweat pants and cotton pants. The outline of my penis is visible. I need to keep readjusting and wear longer shirts to hide it. Have become self conscious because of this. Even with normal pants I don't get the proper flat defined front hip region that I see on ads etc. When I sit on chair have to make sure that no outline of my balls are visible to avoid humiliation. If they are then I push down my pants. Mind you I take a loose fitting pant just so I can have extra space and be comfortable. No such issues with jeans pant.

So, in my understanding once the penis is left inside underwear to either left or right side then it stays there for you guys? Don't know where else to ask such questions. Hope this is alright.

For more info I am 32, height 5'8" and weight around 75kg.

PS: I wear trunks as briefs are too uncomfortable(FYI).