We are so lucky today to live in the age of image stabilized cameras. We can shoot handheld at amazingly long shutter speeds, at least compared to yesteryear. That said, it's not perfect, not every shot, and that leads to a strategy. Whenever I'm pushing a slow shutter speed, I simply shoot a bunch of exposures, often using burst mode. I don't care if 19 of the 20 exposures are slightly soft due to camera movement, as long as one of them is luckily sharp enough for my needs.