how do i get my legs smooth with little effort?

i don't usually shave my legs because i simply don't have the energy or time to do it properly and i've never been the type to wear short pants where my legs were visible. now, however, i've become much more comfortable with my own body and i'd like to start wearing what i want this summer. i want my legs smooth for that and if possible i want it without shaving. i've got waxing stripes but there's always little hairs left as shown in the picture or just very little stubble that's not too visible but i can feel it and my hair has the texture and color to reflect light really well. if anyone could give me tips for getting my whole legs (with thighs and knees) smooth with as little effort as possible (if i have to shave i will, but i don't really know how to do it effectively) i'd be very thankful.