So now I decided to clean it all up for a more professional look. I removed most of the Velcro, but not on the long side pieces. It needs to remain there because it adds just a little bit of thickness. I also trimmed the pieces so that there were all level with the rest of the pieces. I used the double stick carpet tape to permanently attached the remaining pieces, the carefully cut Gaff tape to hold everything nicely together. The little notch is just because the long foam pieces were a little short.
After 30 minutes of tinkering, it ended up like this: