Oh my gosh... it was so easy.
So we got a speculum, and I followed the advice I read here on the forums - namely, get a medium, even if you are post-childbirth, lubricate it very well, and put it in upside down. Easy as pie (uncomfortable, but easy). Then we sucked the sperm up into the syringe, like usual, tapped out all the air bubbles, removed the needle and attached the catheter. Actually, we had all that ready before the speculum went in, cause.. come on, the less time there's metal down there, the happier all women are.
Then, with a flashlight, my wife said she could see everything really easy, and it went in, just like that. About an inch, inch and a half. I didn't feel a thing (besides the vaguely uncomfortable feeling of the speculum). The sperm was in and done before I had any idea, voila! Then she left the catheter in, pulled the syringe out, sucked in a tiny bit of preseed, and reconnected it to get the last of the sperm out of the catheter itself.
Then, also using advice from the forums, we removed the speculum without trying to shrink it back down (think about it; makes sense, doesn't it?), then I popped in an instead cup, and hung out on the floor of our living room chattering with each other about babies and listening to a giant storm rage outside (we were in the living room because our two year old commandeered the bed, and it wasn't worth moving her).
Voila. Just like that.
I can't believe we didn't do this before. Super easy (my wife was SO nervous though, but she did fine - it took like 30 seconds).
That said, for anyone having trouble finding their cervix, you might just have a longer vaginal cannal than I do, but I can find mine really easily by touch, but especially in the shower if I bear down just a teeny bit. I check it as ovulation time gets closer - the "openness" just adds another confirmation that my timing is spot on. There's also that website, which I can't safely look up from my office, but I'm pretty sure it's http://www.mybeautifulcervix.com.
And we just saved like... $900 by doing this at home. Fun fun.