Get lots of carpeting, moving pads, and anything else you can think of and lay it all down just out of shot range. You may want to make sure that everyone wears "soft" shoes so they crunch a little less. The same goes for your cast. And does the crew have to be on the road? Are the shoulders any better?
Sound suppression is a tough gig. The more you're moving around the harder it gets. If ADR isn't a viable option you may have to make a visual compromise or two.
Make sure that you get LOTS of wild lines immediately after you stop shooting.