We set up mats behind the vault table, just higher than the table, with a wedge on top. The girls do handspring from the table to land on feet, and roll down the wedge, then we remove the wedge and the girls punch front off the mats.
For the shoot front off bars, again, we set up a stack of mats. The gymnasts shoot off the bar and rotate to land on their hands and knees on the mats. We then keep doing this until they are confident enough to turn the somersault, but keep the mats stacked up. The gymnasts just to 3/4 somersauts to land on their back. Eventually we take a mat away at a time. We don't have pits and this seems to work well.