I've no experience of removing this kind of CPS with bracket other than from an engine that was off the car.
But you have established that in principle it is do-able, as you say one of bolts is accessible at least.
Two thoughts:
Try a small ring spanner? at least to get it started.
Would lowering the gearbox an inch help? Just put a jack under the support crossmember and undo the 4 securing bolts. (Tip from past experience - replace two of the bolts with extra long ones first to help with alignment)
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