I have to watch out for catching my foot on the leg of mine as I go past it too, it’s tucked in next to the freezer when not in use, I walk past it not around it, but it will still catch me out sometimes.
Even having a counter that you could sit beneath would only partially solve the issue with a stool like mine though, wouldn’t it, because you’d have to sit on it then hump it forward underneath the counter to get comfy, then struggle to work it back out again to stand up again. Not good options for people with compromised stability!
Ideally you need one that swivels and has wheels, like Whammel’s does. Even with normal counters you’d surely manage better than with a stool with sticky-out legs, as you could tuck your feet on either side if your body allows you to do that.