G'day Big Mike,
Bigger Tony here, I recently had the same dilemma. Bearing in mind I'm 6'3" and approaching the wrong side of 120k's??
I got a suitable ladder, asked 'the cook' for an old bedspread or similar, spread this out over the solar panels then on top of the bedspread I placed a piece of 1.2m x1m x 20mm plywood (wouldn't suggest anything less than 20mm as it will flex too much) on top of the solar panel mounting brackets, on my van and probably yours as well the actual panel sits just below the top edge of the mounting bracket. I was then able to carefully get onto the roof and remove the cover for the A/C without any resulting damage to the roof or panels. Whilst I was up there I also removed and cleaned the hatch covers, that made a big difference in the amount of extra light coming into the van.
make sure the solar panels are clean also!
Would strongly advise that you have an offsider on the ground to assist you if attempt this procedure!
I kneeled on the wooden panel whilst I was on the roof......if you don't have back pain now .....you soon will....lol
Good luck, stay safe