Well I only did it once before I was supposed to go camping (didn't end up going anyway
)... As far as legs/armpits, I don't think it's as much of a hassle shaving those. And the hair tends to grow back much finer in those areas. I'd bet the armpit would be pretty painful to get waxed, but the legs might not be. Legs tend to take quite a beating so the skin is tougher. At least my legs are constantly banged up and bruised!
Maybe try an at home kit first? I'm sure your drug stores must have some sort of at home waxing kit. Might be worth it to try that on your own, see how you'll handle the pain, then go get it done by the pros