https://www.youtube.com/watch?v=meKxa_oedh0Check this out. At about 5 minutes. This dude has a crazy flicking technique. He goes bananas on those strings. Take a look! He also explains how he gets that pick sound later in the video. Good luck man. I also just hate picking. I find using one to be absolutely miserable.
https://www.youtube.com/watch?v=P9olieUDzjoCheck out this video by TJH3113 to see a nice trick for plucking multiple strings with one strike. Dude always gets great tones even on picked songs, or songs where Geddy Lee uses his fingernail plucking sound. Watch a few of this dudes videos to see how you can play some picked songs comfortably without.
I can't use a pick to save my life, and the more I use it, the less I like it. After watching these videos, aside from a few songs that really do benefit from the songs, I doubt I'll even use a pick on my bass again.
EDIT: one thing I thought of, every bassist has their own style. Entwhistlenever slapped from what I hear. Two fingers or a pick. Jamerson used one finger. ONE FINGER jesus christ, man. Flea uses everything from picks to slaps to two fingers. More and more bassists are using the three or apparently even four finger techniques. Many bassists just stick to one style, though. Do what feels right. Find out what makes your style and sound unique. If you can do that with just two finger plucking, congrats, man. Go make your mark on the bass world doing what suits you best. And, if you ever want to learn anything new on an instrument, PAIN IS A NO GO! If it hurts, stop. I can say for 100% certain, Repeated Stress Injuries will haunt you for a long time. Avoid them. if you can't find a comfortable way, use any resources you can to have someone help you find a comfortable way.