Right now even while the internal part if moist, it gets stuck on the outer labia if I don't lube it properly or don't put lube at least in the entrance.
Regarding messiness, you could try different lubes. I bought a ton of the lube Chettawut gives and it's pretty "solid" and clean, but whenever I use Aquaglide (what I can find around here) it is so liquid that I always make a mess. Need to try K-Y jelly.