[Python] Cartopy: draw gridline labels, but not the gridlines themselves

I can use ax.gridlines() to draw gridlines in Cartopy, and I can control whether the labels are drawn with the draw_labels= kwarg.

However, I want to draw only the labels, and not draw the gridlines. Is there a straightforward way to do that? Or do I need to drop down to "lower-level" Matplotlib functionality?

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