I know that bad pasterns can affect hoof health - so since he doesn't have ideal pasterns, to help him out I would put pastern wraps on him whenever he's working.
You can try polos but they provide minimal support and take awhile to put on properly. I would try doing a figure 8 wrap, depending on how much support he needs. If you don't know how to do a figure 8 wrap, don't attempt it as doing it wrong can actually hurt him. Depending on the amount of support you want will determine what material you use -
Minimal support -> Polos (keep in mind these are tedious to put on and aren't worth it if you're just going for a 10 minute ride)
Modest protection -> Brace bandages (keep in mind these don't last very long and are best when new)
Medium support -> Vetrap and Coflex
Maximum support -> Equisport (this should be put on as close to the activity as possible. It is easy to put this on too tight or too loose due to it's strechiness)
If he's not in pain because of his pasterns, I would try getting a flake of hay and just practice lifting his leg up while he's eating so that it becomes a good experience... I agree that kicking out is also a major deal breaker but if he's in pain it's a whole other story. He also just might have been ticked off that he was getting his feet done - some of us have off days!