I found the larger diameter is the key to not gripping too tight and tensing up various muscles. My FJR now has its heated grips wrapped with a baseball bat grip I got at a sports store. Durable rubber, thin foam backing and self adhesive. Huge difference, but looks a bit odd (who cares). That thick rubber works just fine with the heaters on.
For non-heaters, CaSport Touring also sells Sunline grips, larger and tapered. You will have to find a way to drill them to use bar ends, or just cut the ends off (I did this on my V65 Magna). I personally prefer these over the BMW style.
Perhaps better than Grip Puppies (durable and washable) are NOJ 210 overgrips. They attach with velcro. Parts Unlimited has them, from your local bike shop.... mine are coming from here
https://www.discounthondaparts.com/eshoppro..._GRIP_WRAPS.htm
The Grab-Ons are a complete replacement grip, made of firm foam, and might work well for those without heated grips.
Also, if you haven't backed off the throttle return spring, I highly recommend it.