Replying to myself: in striking arts, one great solution is promoting a culture where light sparring (e.g. Thai style sparring) is preferred to hard sparring (e.g. Dutch style sparring). In most combat sports, competition is not that frequent and more than 99% of the time a practitioner would be doing either technical training or sparring.
You've perfectly described every martial arts gym / training session that I've been part of. Touch / light sparring is reserved for intermediates, and reflex / defensive drills are a strong prerequsite, and under no circumstances is anyone allowed to go "full speed".
Even in the grimiest of boxing gyms, unless you are explicitly training for a competition, I have never seen this rule violated.
