I have seen people use a towel to help cushion. But there are also special foam covers that can go on the bar to help as well. If placement is good and there are no other issues, I suggest looking in to trying the padding. Not sure where you are located, but a quick Amazon search found this, just so you can see what I am talking about:
https://www.amazon.com/dp/B07KNZKV17/ref=cm_sw_r_cp_apa_fabc_lSKYFbXMH4GF2
Some folks have have had luck with something like this https://www.amazon.com/dp/B07KNZKV17/ref=cm_sw_r_cp_api_glt_fabc_VB0H12EMZHSNA2BJQ10K