I have no suggestions for what you're specifically asking for, but I do have one thing that worked for me when ds1 and ds2 were small (not so much dd, because she didn't do the climbing on me thing as much). I have a step - just a simple, high-density foam one - and I'd put my little one in a carrier (used to be a backpack, now an Ergo) and step for 20-30 minutes. I could do it while watching tv, or a movie (often skipping scenes) or even reading a book.
I don't have any other thoughts, but it did help me...
I don't have any other thoughts, but it did help me...