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I agree it is very difficult to get at the two bolts that hold the accelerator pedal or at least the bottom one. I have not tried this but if you manage to take out the top bolt you might be able to hold the bottom one and the turn the bracket on the inside of the car to undo it. I think if this does not work you would have to take the servo out completely. Unless some can tell us how to get at the bottom bolt.
You also need to look carefully at the bulkhead as they do split with age. Alun Nicholas has had some plates made up which can be fitted to stiffen the area and so overcome the problem. I have had to do this on a couple of cars.
Yes, this one looks like it already has a plate fitted!
I'll try shortening a socket so that it can fit - I hate taking too much time on what should be a simple job when I have a long list of to'dos for the weekend
PS - gone through the manual - doesn't seem to be a big job to move the servo a bit. Of course, time will tell....