Sounds like you've got the technique down for picking them up!
I suspect you are way overthinking the stress aspect of raising chicks. It should not be your #1 personal rule as a chicken keeper. The basics like clean, dry, food, water, warmth should be your # 1 rules!
I am on your other thread and I can see that you are super kind and caring and want to be the best chicken keeper you can be, but I say this with kindness... Try and Relax!!
Chickens are remarkably resilient animals and coping with stress is part of life and growing up. If you tiptoe around them worried you might upset them any minute, playing mozart to cover up the sound of the vacuum, and reading them poetry in case they freak out at fresh bedding, then you aren't exposing them to normal day to day changes and events that will build their resilience. Ok, I am exaggerating with the mozart and poetry, but you catch my drift!
If you have ever raised a puppy, then you know you have to socialise them when young - which means exposing them to as many assorted new experiences (potential stress factors) as possible so that they just grow up shrugging and saying "meh" when a big truck thunders past, or a barky dog passes them, or kids scream in the park.
Chickens have got to get used to you cleaning out their brooder or coop (with a broom, and gloves, and sacks of shavings and all sorts of inevitable scary movements). They've also got to get used to normal family noise, the neighbour's dog, the lawnmower, etc. Just getting on with this stuff without worrying about stressing
them will also help
your stress levels!
I know, it is hard when you are new to this, because it is natural to worry about doing things wrong. Just be careful that your worries don't spoil your enjoyment of keeping chickens. Spend time with them, watch them, feed them treats, and please stop focussing on reducing their stress levels as your #1 personal rule. They will be absolutely fine!!!!