DON'T use foam, messy yes but it also won't solve your problem as it is still compressible when dry.
Find some 1/8" thick plastic, cut and glue some small pieces of it to the handguard.
Stuff some wadding into the horse shoe recesses where the handguard sits.
Use construction adhesive to build up the handguard a bit, it dries solid but can still be trimmed with a knife.
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