For almost forever I've been using a epilator.
I went and got my legs waxed very early on, then got an epilator when out one day thinking it might be ok.
The first time I used it I waited until my hairs grew back, lasted about 5 minutes. A friend said one day why did you wait for everything to grow, so went and got waxed again, then started pretty much the next day just spending a few minutes doing it.
I haven't had a need to shave or wax my legs in years, my friends always comment on how smooth they always are.
I do keep a shaver for my underarms and lady bits, but other than that I would never go back.