Yeah brings back memories of lots of swearing...
I did it on my 2009 ACV40 (it was up on a car hoist though). You don't need to remove the sub frame/cross member assembly but from memory take off the engine mount nuts/bolts from the LHS (and others anywhere else around that area) then jack the engine up to get enough clearance, for your hands, to access the bolts behind the cross member (only 4 or so).
With a range of spanners and sockets and hand contortions you can get to all the trans pan bolts. Just do the 4 hard ones first...
