Are you familiar with hydroforming? You could try a version of that with some foam rubber, like what cushions or pillows are made from. Put the foam in a wood framed (or other material, plastic or metal, as long as it is sturdy enough) box big enough for your part. After you heat it in the oven, place your part on the mold, cover it with something so it won't stick together, maybe some material that has the texture you want. Then press the box with the foam down on your part, use weights or sit on it, whatever, until it cools. Then open it up and you should have your part. With texture and all. This might be easier than vacuforming.