Ergon Gp1 should be fine.Do you know what the options are for handlebar grips on the H-bar?
Wide round grips are actually quite comfortable since the handlebar is swept back, you just need to slightly change your holding habit, once adjusted it feels great without any pressure on ulnar or carpal nerves. They have their silicon grips, wide so should be comfortable.
If you want single position, ergonomic grips then Ergon has GC1 grips is another optionhttps://www.ergonbike.com/en/product-details.html?w=touring&a=griffe&anr=42410010&s=gc.
You can cover the rest of the handlebar with bar tape and still have many hand positions.