Why is my cat so annoying with pooping in the litter box?

I got my first cat almost 2 years ago now and she has ALWAYS had problems with using the litter box when she poops. She always poops over the edge of the litter box and it will get on the floor or she will poop right on the edge it'll smear on the edge. I have upgraded litter boxes idek how many times now I just use a tote. Also have changed litter and food so many times and used newspaper it doesn't matter what it is I used to think it was a texture thing but I dont think so anymore. Its like she goes in the litter to just barely stand in there so she always shits everywhere. I've basically accepted it at this point but I always wondered why she does this and nothing I do changes it? Also she doesn't even try to cover it bro 🫩 Why do u guys think she does this? Also there's no problems when she pees and I've got 2 litter boxes one for her to pee one for her to poop no problem with pee though never understood why bro