If your handlebar grips are lower than your seat, it makes hand numbness and pain worse. If they are higher than the seat, it helps. I haven't experienced "arm pump", if by that, you mean fatigue in the triceps or forearms. That's not because my forearms and triceps are super strong. They're not.
Even with my seat up, my grips are 3-4" higher than the top of my saddle. That has never been a limiting factor for me on climbs, especially with steeper STA's, and it helps on the downhills. You could try raising the bars.
I generally like the steeper STA's but I think they contribute to the trend of more hand pain. I never experinced hand pain until I transitioned to this geometry. I have found that flatter grips like Ergons help, and also there are lock on foam grips that are pretty cheap that you could try. You could also experiment with more rearward bar sweep, but that's a pricey experiment!
What are the conditions under which you experience this the most? Long downhills?
My wife is using Fasst Flexx bars with 12-degree back sweep, raised bar height and soft flexing spacers. She never gets arm pump or hand pain. I used them for a while on my mountain bike and really loved them, but she commandeered them.