Custom fit Wooden clogs. I'm not joking. All cushioned surfaces aim to mold themselves as closely as possible to our body, but if you simply skip that process and shape a hard material to your feet exactly, it's extremely comfortable. There is a reason that clogs have existed for like 1000 years and co-existed with shoes for an extremely long time, only dying out more recently.
I have a Topo Mat and I really enjoy it. They advertise that it encourages you to change your stance with the contours and I've found that to be true. The "mini" one is sufficient.