Look for a knee pad for gardening. Go to the gardening section of your local home improvement store. They're just big enough to kneel on. If that's still too big, maybe look for an inflatable camp pillow or camping cushion of some sort.
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I just use my pillow or maybe a folded towel if I have to get on my knees for an extended period.
you could get a cheap foam thermal mat and cut out the size you need. beware though, as it will roll up by itself when too small.
https://www.bunnings.com.au/cyclone-knee-pads_p0122526
Gardening knee pads. Designed for spending hours kneeing in the dirt, and are flexible
Hover your knee off the ground when you are in the all-fours helps. Like don't put your whole weight on it. Do poses that don't put as much weight on your knees. Look for better ground to practice, grassy areas.
When I yoga outside, it's the last suggestion I use the most. My knees are also sensitive, and finding a flat surface, then using my usual sorta thick yoga mat works well.
G-Form mountain bike pads would work.
You want the X3, not the rugged.
https://g-form.com/collections/bike/products/knee-pads-mountain-bike-prox3-alt
It will get easier the more you practice and your bones will get stronger. If I'm uncomfortable I just change positions.
True, but not everybody is built the same. I can imagine someone being so uncomfortable with it, that it would detract from the exercise..
Swimming kickboard/flutter board?
Hardware stores might have cheap gel knee pads ($10 -> $40 for fancier ones)
There's also these kneeling mats / pads
Hunting/sports sections will have foam pads like these for sitting on while hunting/fishing or in bleachers etc. Have had one in my gym bag for years for knee-ground-exercise things.
Perhaps a soft kneepad that you wear would work for you
In my homegym I have an AbMat foam pad which I also use as a knee pad. And while I think the thick foam would work outdoors on tougher terrain, it would not meet your criteria to fit in a backpack.
My other suggestion would be a scrap piece of horse stall mat, which are nearly solid rubber sheets commonly employed for homegym floors. This is what I use when working in my yard, for tasks requiring a lot of kneeling. Such a piece -- while heavy -- could be cut to whatever size you need, using a sharp knife or a jigsaw.