Tiny hand needed to connect speedometer cable in 71 Duster

I've spent many hours over the past 45+ years standing on my head with my right arm squeezed under the dash trying to connect the speedometer cable to the back of the instrument panel. I'm guessing there's a much better way to do this - possible requiring the instrument panel to be pulled out or the steering column to be dropped out of the way. (I've done both in past years).

I'm open to suggestion from others who have done this successfully. I'm getting too old to enjoy working under that dash.