I like the voyager ones better. From the full length to having more lateral ties to not sticking out so much (I have little kids and don't want their little feet to go through). But it is quite a bit more. I'll have to think about t.
I can understand the feet catching thing. Small feet may catch with either. As others mentioned, Derek at Urban is great to work with so you may be able to request a special order that may or may not cost extra. I had him shorten the amount the outriggers on mine stick out by 1/2" (i probably could have gone a full inch and still protected the widest part of the doors, but that is only needed if you are concerned about trees and pillars as opposed to lower obsticles like rocks) . Also, he may be able to weld some sort of plate on top of the outriggers. Possibly a perforated steel. Then no feet would get caught and they could be used as a step.