The pipe padding is probably the best way, at least until someone develops something better. Many shops unpack far more bikes than they pack and not all shop pack jobs are equal. My experience is the best-packed bikes are those from other hobbyists who have been dealing with old bikes for awhile. The worst packed jobs are from hobbyists who have no experience or can't be bothered, and sometimes from online sellers who don't do a lot with bikes. The shops are in the middle, some doing a better job than others.
The main problem areas for packing are:
-Bottom bracket and sprocket not supported, so gets damaged hitting bottom.
-Axles not padded and push through sides of box.
-Stays and fork not supported, so get pressed together or bent.
-Loose, heavy items not contained and bang around inside the box, damaging the frame and fenders.
-Front or back not padded, and gets pressed from the end of the box.
-Front wheel taken off, but not padded and bangs against side of frame.
There is a solution for each of these issues, but it takes time, effort, and decent materials to solve.
It does not help that a significant number of bike boxes (half at least, in terms of what I have seen) are handled roughly. A substantial minority are handled even worse, that is, in a totally unreasonable manner such that they seem to be dropped from height off a conveyor, truck or similar. This roughly correlates to damaged bikes, but not always. Sometimes it's dumb luck that a bike survives a bad pack job and bad handling. And sometimes a good pack job is handled so terribly by the company, that the bike is still damaged. So packing leads to a higher chance of survival, but not an absolute one. I wish I could say that if you pack the bike correctly, it will arrive in good order, but it's still subject to the luck of how the company handles it to some degree. I always encourage people to use a bike shipper like BikeFlights or ShipBikes or whatever replaces them because it afford some second level of protection. I've never had FedEx or UPS cover a bike loss - they always find an excuse to get out of it. They usually cite bad packing, and sometimes they're right, but often it's their handling. I will say I've had BikeFlights cover losses that the shipping company would not, even after documentation.