Recommendations on how to make grips more comfortable?
I really think this is a fit issue (e.g., changing the bar height and/or reach, how you hold the bar) rather than finding softer grips or padded gloves.  Numbness should be taken seriously (as it can lead to permanent damage if left unattended). Padding tends to help deal with issues associated with high frequency vibrations, rather than too much pressure that can result from poor fit. With soft padding if there is too much pressure this just tends to force the padding further into soft tissues, which can exacerbate the numbness.

Ideally, with the proper fit your hands should only lightly touch the handle bars, which should make numbness rare. Excess pressure suggests compensation from incorrect fit.