Can static be discharged when removing sensitive electronics from a static shielding bag while you and the bag are at the same voltage?
I've successfully used this mindset --- get the person, the bag, and the sensitive circuit to be at the same potential --- with NO ESD damage, on numerous sensitive projects.
I guide people with ---- find the GROUND pin on the PCB, and first touch that.
Now you can remove or insert whatever you want from or into the PCB, safely.