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A possible suggestion that might work for you is to fab something using a swimming pool 'noodle'. My wife and I RV, and we've seen some pretty creative ways fellow RV'ers [especially those with young kids] use these pool noodles to cover the edges and bottom [king pin] of 5th wheel camper trailers. A Google search for pics might give you some ideas....
Those lift arms hurt like Hell! I just taped some cleaning towel sections onto them after one good head bang. Three years later, they're still there. I'll be reading the ideas too.