Chef: Lured Sit, Down, Stand to Dry Paws

For pups that don't like their paws and undersides wiped, this is a low-conflict way to get the job done. Have a microfiber rug by the door and lure your dog into a sit, down, stand, and turns in various orders so they are "wiping" their paws and undersides for you. Doubles as some strength training ("dog burpees") for your pup!
You can advance the game by doing the same thing with hand signals instead of food lures and/or with verbal cues.