As always, I like to provide some follow-up once I've found a solution. The Kirk lens foot for the Nikon Z 70-200S lens is very nice. It has a solid, tight fit, and is much longer and wider than the OEM foot, with a clean smooth finish. This actually makes it much more comfortable to handhold with the lens foot attached and positioned underneath. I still don't love it, but it's a lot better than trying to shoot with the OEM foot attached. The built-in Arca plate is nice, and the QD attachment point feels solid and leaves the camera feeling very balanced when it hangs.
Ultimately, I'm not sure if I will end up using the lens foot as the attachment point for my strap, or just stick with the body and let the lens hang straight down. The latter is a lot more comfortable and familiar to me, but I may try with the lens foot for a while just to get a feel for it. Thanks for the input, I'm excited to be part of the big lens club!