Connectorless MicroUSB or miniUSB on PCB: Feasible?
If you have space, edge card connector fingers would be fairly simple.  If you use only one side, you can modify a receptacle with a shim to account for your apparently thinner board.  This may not be quite as suitable for very large volume as a custom pogo pin fixture, but it is likely cheaper to rig up, and the parts are more widely available.

For low volumes, a very simple choice (provided your programming operation is no more than a few seconds and includes a verify) can be to use a single row of plated through holes for a .100" header connector.  Instead of soldering a header into the board, you solder one to the programming cable (or plug it  a female socket on the cable), insert the header pins into the board, and then tilt them sideways, holding pressure with your hand until the programming is complete.