The bra strap should not be indenting or causing pain on the shoulders however they do but shapewear USA has something for that. They have foam bra strap pads to help stop the indents and pain. I love this because before I switched over to sport bras, I too had the pain from the bra straps and nothing could really help with it.
The bra strap pads works with removable straps and or nursing straps. So if your straps are not removable, I am sorry but this is not for you.
You can also use this on removable strap bodysuits which would help a lot.