I definitely use clip-on stirrups when I want pants so sit correctly in boots. Don't know how people make them cooperate otherwise.
have a portable horse ladder I think you might need one...
these wrap around pads are amazing! You can put them on any stirrups and they’re super grippy :)
Can you clarify what improvements you're looking to make?
Are you having issues with losing your stirrups and need better grip? I have these: https://www.amazon.com/Millenium-Super-Comfort-Wrap-around-Stirrup/dp/B002HVCASK
on regular peacock stirrups and they're an amazing difference from normal stirrup pads. I almost never lose my stirrups now.
Or are you looking for something like flexible stirrups so you don't have to stress your ankles to keep your heels down? Sprenger Bow Balance stirrups have some great reviews from people with ankle and knee issues. Might be worth a try?
And if you're working in suspension for long periods of time, always have your feet supported. I found that I didn't like having normal foot loops on all day as they squeeze/crush the sides of my boots, so I bought some cheap plastic stirrups. They work great, would recommend.
For ankle pain I would look for a wide foot pad and an adjustable link to your stirrup leathers.
These for instance:
MDC Stainless Ultimate Intelligent Stirrup https://www.amazon.com/dp/B007TBACWY/ref=cm_sw_r_cp_api_i_26HWA308D87ZBQ0PZ2JB