I would like to use an inline badge with v3, but there is no documentation on badge position for v3.
After execute, you can move the badge by Javascript. It will fix recaptcha timeout error in firefox and chrome browsers.
grecaptcha.ready(function() {
grecaptcha.execute('sitekey', {actienter code hereon: 'loginpage'}).then(function(token) {
/* Move Google Badge to your Div ID */
jQuery('.grecaptcha-badge').appendTo("#g-badge-newlocation");
});
});