There are contact height followers out there, but it probably requires slowing the feed speed compared to what you are used to. Haas laser has them as well as others. They are expensive, I think around 3000-5000 US. Maybe you can find something in your country. I think you could rig up a transducer that seeks an equilibrium point and make a mechanical foot connected to the transducer.
You would need a small servo/ stepper than move up or down depending on equilibrium point. I've heard of pneumatic motion on the Z axis as well, but I've never seen the foot in action