Any endocrinologists for diabetes that have developed pain-free glucose testing?

Not really. But there are some glucometers on the market that work on forearms not just fingertips. The only thing is the testing place must be in same place for results to be comparable. For example if you test on your arms always test on arms. Supposedly they hurt less than fingertips. Also there are the continuous glucose monitors also now available . You should talk it over with your diabetes doctors.