I really like Superfeet insoles. I don't do ROS, but I do have Superfeet in a lot of my boots and shoes. They give a nice firm footbed and improve lateral support in rubber boots. Some people need to wear them for short periods in order for their feet to get used to them, but I did not have that problem, from day one they felt great to me.
I also bought some Alpaca insoles that I slip underneath the Superfeet in my uninsulated Muck boots. My feet stay warm with that set up. The alpaca adds another layer of cushioning to the Superfeet in boots that otherwise offer little support (like Tingleys, or paddling shoes).
These would have to improve comfort to some degree on a ROS. Would they add enough comfort? IDK, since I don't do ROS. I can say that climbing on bolts feels better with my insole configuration. There are a bunch of different models of Superfeet. I've only used the green ones so I can't say how any others would work.
Superfeet All-Purpose Support High Arch insoles offer professional-grade orthotic support for anyone who wants their footwear to fit and feel better. An excellent choice for those with high arches, these original shoe inserts are an affordable, effective alternative to custom orthotics. Designed...
www.superfeet.com