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This was a pleasing revelation to me...
Waxing was expensive and a hassle, shaving was unbearably itchy but this season I just trimmed everything back using the shortest setting on my beard trimmer. Not quite as sleek as the other options but 90% of the way there with 10% of the trouble.
Pro tip: remember not to wear speedos to the swimming pool if you've gone for the hairy boxers approach...
I just trim them using my beard trimmer.