I don't think it will be nearly as bad as doing the driveshaft without a lift. I pulled out some pretty extreme contortionist moves and acquired some neat bruises to get that done.
I probably wouldn't jack up the car to do the motor mounts ... easier to reach the top bolts with it on the ground. Trans, I'll have to take another look ... a bit snug back there but I fit OK to do the steering damper with wheels on the ground.

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1987 300D, arctic white/palomino--314,000 miles
1978 240D 4-speed, Euro Delivery, light ivory/bamboo--370,000 miles
2005 Jeep Liberty CRD Limited, light khaki/slate--140,000 miles
2018 Chevy Cruze diesel, 6-speed manual, satin steel metallic/kalahari--19,000 miles
1982 Peugeot 505 diesel, 4-speed manual, blue/blue, 130,000 miles
1995 S320, black/parchment--34,000 miles (Dad's car)