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I've poked some very uncomfortable things before. You just go slow, back out a little if you hit something that hurts. There are very few large blood vessels in that part of the leg, so I rarely bleed much. And if I do, it looks scary but it's fine.
Also like, sometimes the needle doesn't go "all the way" in and it's fine. Thighs are meaty and there's a bit of freedom as to where it ends up.
Thank you for all the information, I feel way better about hrt now.