I just stick my index finger right next to it, use the finger to feel the socket and then move the plug forward.
The taper in the front does the rest.
Doesn’t work as well with USB C because:
The curved bevel is not good enough for the job
On the PC, the USB C is recessed and the I shield has a big enough hole that the plug can get stuck on the side of the socket instead of correctly inside.
I just stick my index finger right next to it, use the finger to feel the socket and then move the plug forward.
The taper in the front does the rest.
Doesn’t work as well with USB C because:
Honestly, USB A feels easier to use in that case.