from the last paragraph of the wiki article you linked

> In June 2020, BAE announced they had completed test firings of the APKWS from a ground launcher for the first time

so it seems like they've got them launching from the ground. That seems like a real possibility to defend against these kinds of drones. However, I don't think it's a problem of technology or cost right now but of availability.

Ukraine has been using the originally air-to-air missiles AIM-120 launching them from the ground.