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Hope that works. All it would need is like a 1/2" thick foam pad with a cloth, vinyl or leather cover with a 1/4 inch deep plastic base. base screws into the hard armrest surface with self tapping screws or the door panel comes off and screws up from bottom into some kind of embedded nuts. then the pad could just click in, in either case. I used to work for the red cross and repaired a lot of wheelchairs replacing the pads. They all basically used the same system which was screws from underneath into the armrest base. An expanding rivet of some kind could work for a top mount system as well I think.
that damn armrest hits right on the funny bone of the elbow and there is no relief short of resting your arm on the window (not so comfy or practical in all season climates. lol. or periodically taking your arm off the rest. Even on a short drive I hate it. Imagine if they didn't pad the center console armrest. The only thing that could have driven this decision to have hard door armrests is money. just stupid.
i'll step off my soapbox now