I epilate my legs rather then shave them, so if I get behind on maintaining them, the hair is so fine no one will notice - no stubble!
Seriously, give it a try.
He probably won't even notice. I hadn't shaved in days and commented about it to my long-term live-in boyfriend. What I thought was looooooong stubble, he didn't feel even when he rubbed his hand on my leg. They're hairier than us for the most part and really are more concerned about having your pants off than the state of your legs.
When I fumble around in the bedroom and I forgot to shave my legs, if my partner goes to touch them I get abit kinky and pin his arms about her head and kiss his neck etc. and when my legs rub against his, he doesnt notice because his legs are hairy too!
im so lazy, i hardly ever shave my legs. what i do instead, is wear over the knee socks so he doesnt notice. The cotton is thick enough so that your leg hairs dont poke through, and if he asks why you're wearing them, you can say you don't want cold feet to distract you from what you're doing. (cold feet genuinely does distract me and lessen my enjoyment)