Could you be instinctively kipping because you’re just not strong/powerful enough? Like people who can’t do a push-up without their butt kipping up and down - often they think it’s “core strength”, but if they can do a plank for at least as long, it’s not core strength. It’s just their body can tell they’re way too weak in the pushing muscles to get anywhere with a ‘static’ push-up. I fixed that particular problem by training my bench press until I could do good pushups. Now even if I went to do a push-up while completely fatigued, I can remember what it feels like to do the movement properly, and don’t kip, even if I fail.

Not really sure if that’s an analogy for campusing (am former powerlifter). But maybe?