I just completed this project last weekend (2019 ST) and yes Ford engineers made access an absolute pain!! I essentially did what you are thinking with the 3/8" steel rod and used a 3/8" breaker bar from Autozone. I took the tool apart because you still can't get the angle quite right, put the 3/8" piece in and when it was aligned, I put the bar's "U" section around the piece and turned it a quarter turn at a time. When it wouldn't line up exactly right, I used an allen key pushed through the hole on the 3/8" piece to turn it enough to get the bar back on. Fortunately it isn't in there too tight.
https://www.autozone.com/ratchets-sockets-and-wrenches/breaker-bar-tool/p/duralast-3-8in-drive-10in-breaker-bar/565694_0_0