Burping and naps

My baby is almost 4 months old. Ever since he was born he won’t burp easily. if we don’t spend a ridiculous amount of time burping him he won’t burp enough before a nap and will wake up in under 30 min. Very rarely can I get him to nap for longer than that if I burped him enough. He sleeps through the night okay, but usually wakes up once to get burped then back to sleep. I’ve tried so many things to get him to burp enough, are there any secrets to burping a baby enough? He burps every time I pick him up when he wakes early from naps then yawns like he’s still tired.