I burp Freya after dreamfeeding, she always does a massive one before I put her down. She burps loads anyway though! I guess if your baby is not particularly windy, lol, it wouldn't be necessary. It takes me about 10 mins to feed her and about 20 to wind her sometimes when she's asleep, but nevermind. Sometimes she just does one straight away.
Freya can burp on her own as she sleeps on her front, so when she lifts herself up on her arms can make herself burp. Either that or she does just literally burp all the time!