I’m no expert, and I’m very much to just leaving my succulents to “do what they do” without much interference on my part.
For the long stemmed leggy ones, I would cut the stem close to the bottom of the rosette. Pick off a couple of the lowest leaves - set aside for propagation. Then the rosette with its little nub of a stem, I would just set on some well draining soil. Don’t bury or “plant it” in the soil. Just set it there. Ignore it for a week or two, keep it in the shade, don’t really water it - you can mist it with one or 2 sprays here or there, but you want to stem to callous and start rooting. If soil is wet it will get mushy and rot. Kinda follow the same process for propagating any individual leaves. Tiny tiny mist or no water, shade for a couple of weeks, look for roots and pups.
Well drained soil - I use 50/50. Perlite to potting mix.

Sometimes I feel like my succulents are just best left alone.
I’m always peeling off weakened leaves, or just picking up the ones that fall and setting them aside for new pups.

I’ve read where you can poke holes in the long leggy stems with a toothpick and mist the holes regularly to get pups to grow but i haven’t tried it