X5D transmission filter DIY question

[PGas32]

Hi there - we purchased a 2010 X5d for my wife a couple of months ago and we love it so far. I've done some research and decided to change the transmission fluid and filter. I ordered the kit and attempted to change out the filter/pan this morning, but part of the subframe is blocking access to the 4 most rearward bolts. Does anyone have any advice on how to get these out? A socket definitely won't fit, and neither will a torx key.

Thanks. And yes, I did search and search and search before posting this, but I couldn't find anything that specifically addressed this issue.