This may be something to consider....

As a small infant, our DS slept in a bassinet for almost four months. There was only a small window - about four months after that - that he slept in his crib before he was sitting up and putting his arms up for me (so I didn't have to bend as much). I just had to "deal" for that time window. Not a great solution; but we never did find a great solution!

In any case, a bassinet might help, and it might give you time to find a better answer!

Also - this sounds silly, but... when my mother came for an extended visit, we moved the crib to the center of the room. This made things so much easier, a real "duh!" moment... we could go to the side closest to the baby!