probing foil wrapped foam, would likely be significantly less accurate than probing the metal workpiece.
best practice is to turn your feed rate down while moving the probe manually - Go as slow as necessary
for the occasion, to avoid mistakes. With practice you'll get better / more comfortable.
I've been using a probe on a 5-axis for 30 yrs and have yet to crash a probe. Patience, awareness,
and focusing on the task is key. Cheers