I crochet very tightly. The only thing I've made that couldn't stand up on its own was a granny square. Everything else holds its shape just fine without stuffing or special care. My amigurumi are squishy but not soft. It's usually not that much of a problem since I'm used to having to fight to get stitches in but the last thing I made ended up with a teeny tiny hole for stuffing instead of a nicely sized open area.
I need to pick a simple pattern and try working looser. Maybe with a bigger hook. And a glass of Bailey's. But then I'd probably just end up with a larger amigurumi while blushing and needing to pee.