I think a single u-joint at the socket on the nut, with a 12" or longer extension could work.
The head of the torque wrench would have to be guided/restrained. Harder to do benignly with some types of torque wrench.
A few trials tightening some accessible nuts directly, and with the u-joint set-up, would determine how to do it.
The condition of the anchor bolts and nuts suggests some cleaning and lubrication maintenance is called for.
Just checking re-tightening them as-is could be deceiving.
Op
Remove and replace bolts and nuts.
Setup a bench test to simulate assembly.
Tighten and torque. To OEM specifications.
As stated before except start all nuts by hand start and tighten.
Then tighten with impact wrench. (Test on bench for max torque below required values)
Then hand torque with calibrated torque wrench
Tested with flex jount. And socket.
Did the original oem apply a product like locktite?
Use a hydraulic tensioner to put the correct preload and then snug the nuts. It will result in a more uniform/accurate preload unlike torque. The short bolts would be replaced with suitable ones.