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You can get collapsable monopods for not too much money. I use mine as a cane when I'm not shooting, works well.
Carrying around a fair-sized beanbag works wonders, too. Find a spot to place it and put the camera on top. They actually make beanbags with tripod studs attached.
I use the A95's mum, the A85, at work. It's a fine p&s with relatively easy to work with manual control.
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