If you are having trouble keeping the universal joint in position, get some electrical tape and give it a few wraps. This will allow it to swivel and not flop around.
I use a 24" and 12" extensions and the universal to get the top bolts. That puts the ratchet after the cross member and easy wrenching room.


1985 SR5 4Runner
eLocked with Carter Lock
4.7:1 single case
Davez Offroad twin stick