For temperate growers like myself, avoiding etoliation is an art. You will get better, however those already suffering will always bear evidence.
Mostly my preference is to let them run, I even have TPach that mutated after etoliation so perhaps the aesthetic is not ruined but improved?
However, if you have cacti falling over you have to do something (I ignored this warning two and lost several three year olds (my original lessons) to a sticky black disease, my theory is they were too weak after falling over in each breeze and had no natural defense.
I would; 1) cut off the growing tips above any weak or already pliable bend in the cacti (had some success here plus you will likely get two plants out of the deal)
or
2) let them continue but support them as you would a large cutting (string and Tmato stakes work) and see if they develop a stronger trunk, just remember this will only help with the plant staying upright, nothing is going to help the look of the cacti
hope this helps,
Ian