Jasem81:
You’re not doing a very good job of explaining to us or showing in your photos, exactly what the various problems are. You should get with your customer and actually list the various types of roughness and sharp spots, and approx. quantities, etc., so you have an idea of what tools will be used most and are most important. The customer has every right to be concerned about these problems on handrails and the like, when his workers are going to cut their hands when using the handrails.
It looks like you have one size of pipe handrail, and then maybe several different roughness problems on them. I would be looking for some tools and light machines which semi-skilled workers could use on every handrail assembly on the project to clean these rough and sharp spots up. The single size pipe should simplify you tooling needs. Auto body shops have some shaping and finishing tools for non-flat surfaces which might work for some of the problems. Maybe some woodworking or light machine shop tools like belt sanders, flap sanding wheels, angle grinders, various other grinders, routers, etc. might work. The trick is to mount these to shaped bases, matching the pipe dia. so the workers can’t do more damage than they do good. Maybe a special shaped cutter/grinder and tool base will slide along, right on the pipe shape, and just clean up the high spots. This all takes some imagination and engineering judgement on your end. Certainly, I would involve your other subs who played a part in this mess.