At home naked women don’t grind on my lap

I will second this ^

I could say “I fell in a hole” to mean either case (I was in or out of the hole beforehand), but for “I fell into a hole” I would only use it when starting outside the hole. (native speaker)

Like on the one hand it could mean “I fell [while I was] in the hole”

But it could also mean “I fell [and then I was] in the hole”