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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.
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..
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
Swimming kickboard/flutter board?
Hardware stores might have cheap gel knee pads ($10 -> $40 for fancier ones)
There's also these kneeling mats / pads
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.
https://www.bunnings.com.au/cyclone-knee-pads_p0122526
Gardening knee pads. Designed for spending hours kneeing in the dirt, and are flexible
Perhaps a soft kneepad that you wear would work for you