I just installed some closed cell foam sold by
Hydro-Turf-Performance Traction Products
They sell sheets with different profiles. I went with adhesive backed black cut-groove stuff. I think fuel is a concern but it's away from my tanks.
It's becoming popular on racing sailboats as an alternative to abrasive non-skid and is often used on jetskis and soft-top surfboards. Hard to see in this photo but you get the idea.