The best & easiest solution I was able to come up with was to cut a piece of firewall insulation ( the type with alminium on both sides & insulation in the middle) about the length of the door opening & about 12" wide.
Sealed the edges with aluminium tape with a notch cut out to fit over the sidepipe mounting bracket.
Then I shaped it into a U lenghtwise. I carry this tucked neatly behind the passenger seat & before I allow any passenger out of the car, either I hand it to them to just drop over the hot pipe, or I will get out & place it over the pipe & assist them out.
This is inexpensive & even better than sheilds as they will get hot anyway, especialy if you are parked for a few minutes allowing the heat to radiate into the shields.
You are able to place your hands, legs whatever directly on the insulation even after it has been sitting on the pipe for some time & it barely feels warm.
Try it, it's cheap & very effective.
GEEEEES it takes a lot to describe a simple device.
P.S.
I ALWAYS lift my grandchildren out of the car.
Thats the ONLY safe way for little children to get out.