Got a few stencils etched up on some overhead transparency sheets:

There's still issues around the VQFN pads with these stencils, but should reduce the amount of solder paste on the board. Plus the VL53L0X pads are pretty decent, which are the harder ones to get right with a syringe as they are under the part itself.

I'll have some more boards made up this weekend with these stencils.

Edit:

After changing the pad layout a bit by reducing the size of the VQFN pads by 80% and reducing the speed and power:

Much better.