All the cool kids just 3D print the fingers now. The Bambu C1 printer with their carbon filled filament makes designing/building robust gripper fingers with nice features like compliance and pre-load so easy.
Well designed printed gripper fingers are making thousands of cycles in machines around here. Totally worth the investment in a Bambu.
How well do they hold up to coolant residue? Coolant is usually pretty harsh on plastics. That is my worry about printed gripper jaws.