Is there a way to repeatedly make yourself incapacitated, while it’s not your turn?

A lot of player ‘Companions’ (like the Beast and Drake (UA) companion for the Ranger, or the Homunculus Servant or Steel Defender for the artificer) can act more freely if you are incapacitated.

Is there a way of repeatedly imposing that condition on yourself, while it’s not your turn?

The closest I’ve come to it, is triggering your own Tomb of Levistus warlock invocation. But that is not repeatable.