Ds has the same cages as yours, I hadn't thought about how comfy they would be and he is non-verbal so... I don't know about any other types but maybe it would be possible to find some boots with a more cushioned sole instead?
My 9yo dd has been using the Matrix toe cages www.horze.co.uk/Matrix_Toe_Cages/16075,en_GB,pd.html for a year after several terrifying dragging incidences. She's now growing out of them & I'm considering what to do next. She has hypermobility in her ankles which led to her foot going through the stirrup. She's really progressed in her riding & jumping 2ft 6"-2ft 9". I still want her to wear the cages as I feel nothing else offers the safety that cages do in terms pf stopping the foot going through the stirrup BUT, are there any discreet cages that have more comfy footbeds e.g. softtreads