If you jack up the car at the frame (letting the diff drop) it would create more room beside the filter.

Then go way down away from the filter where there is a bigger opening (because the drive shaft is tilted).

Slide out the old filter that way, then get the new one in the same way, while keeping it clean (maybe wrap it up?)

Tricky... I don't envy you.

Mine is on the outside of the frame rail and is the vertical type...