I have some camo military pants that are double knee. I was a able to cut up and old closed cell foam sleeping pad and stuff in there. Works amazingly well I don't notice them at all walking around. I also put them in a pair of double knee carharts and they work well in there also.
You'll pay a lot more but ultralight poles make a huge difference. I have helinox passports they fold up really small and are super light so I take them everywhere.
I've takin my outback many places I shouldn't have or didn't think would make it.Your issue will be not having a gear thats low enough to crawl through some places.
I've gotten into these situations so many times my wife nicknamed me "I think we can make it". I was thinking about getting t-shirts made with that quote.