Some physical keypads have a screen behind the keys to shuffle the positions of the buttons (e.g. [1]). That defeats many attacks, including recording the hand movement or infrared cameras (you can see where the person pressed, but you don't know the number that was there). Alternatively you can heat the keypad to reduce the difference between body temperature and keypad.
1: https://jkcorpeng.imweb.me/japan_doorlock/?idx=53