I have a '95 Trek 730 Multitrack that is equipped with Trek's "System 1" bar ends that are similar to what you show first in your opening post (tubular aluminum).
Most of my riding is on the road, and I do spend quite a bit of my time with my hands on the bar ends. I have some Lizard Skins slip-on bar end covers on there that provide a little bit of cushioning and grip.
I considered the Ergon GP5 grips at one point when I was experiencing some tingling/numbness in fingers, but decided at the time to give the setup I already had a little more time.