Few questions

We have a Cosco Scenera in DH's truck. He doesn't loosen the straps when taking DS out. I don't know how he gets DS in and out without doing it but he doesn't. I think I remember that not loosening the straps can cause them to twist. Is this right?

Also, is there anything I can put on the straps to protect DS? The reason DH gave for not loosening them is that when he tightens them back up the rub against DS's neck and cheeks and he is afraid they will hurt him. DS is quite the chunker so it is a valid concern. We kinda have to tuck the straps under his cheeks to have them on his shoulder properly.

TIA