here is my take on printed foams for 2.2 comp crawlers. been using them for over 2 years they work well and shed water.
I included a picture of a 2 year old one and a new one.

how to print them.
I use Cura for my slicer.
use Gyroid infill
print 0 walls and 0 top and bottoms
no supports
the inner foams I do somewhere in the range of 8-10% infill
the outers I do somewhere in the 3-5% infill (3% is really soft).
I use SainSmart TPU filament.
I over extrude the filament about 4-5% to help the single lines to keep stuck together. so if you normally run your TPU filament extrusion at 120% I would run it at 125%
having a dilled in printer for TPU is key here.
biggest thing is first layer adhesion, you only have a few lines for that first layer so getting them to stick is key. I do a brim on both inside and outside with at least 5 lines each. you get that first layer you should be good,
getting the prints to look good is hard. since there is only single lines and most of them are short. controlling nozzle presser is difficult. you will most likely get some stinging and really it is a foam that is going to go in a tire, who cares.
experiment have fun and happy crawling!

Creality

Ender 3

Yes