Nurse half woken baby back to sleep, unlatch and then very slowly unstick your skin from theirs and try to slink away without waking them. When they startle- FREEZE. Hold it, feel the burn, hold it until they are peacefully back to sleep. Repeat as many times as necessary.
Coincidentally, EC is also great for the abdominal muscles! When I take my son to poop I hold his legs over my wrists with his back against my torso. To cue the poop I tighten my abs and give a small grunt.