I had an IV needle stuck in my arm for a couple days when I had appendicitis. If it weren't for the tube hanging off it, I would have hardly known it was there. I barely felt it going in, either. I'm quite sure a CGM is even less obtrusive.
I'm not an expert on this stuff, but usually the needle is usually only present while installing the IV. After it's placed, the needle is removed, leaving only the catheter.
I wasn't sure if appendicitis would need something larger perhaps?
Anyways, the Dexcom pods are similar to an IV in the way the insertion needle and sensor go in together then the needle retracts.