Linking this tool that Kevin Conklin linked in this thread:
http://sonexbuilders.net/viewtopic.php?f=7&p=39196#p39196Here is the tool kit:
https://www.amazon.com/gp/product/B019P7CWJ0/It's a low-profile right-angle adapter that can fit any drill and uses threaded drill bits. Threaded bits can be purchased together or separately at very stubby (1/4") or longer lengths to fits into very tight spaces. There are dedicated drills (usually expensive air drills) for this type of drilling but this seems like a reasonable-cost alternative for maximum drill access, and you can still use a standard cordless drill to power it.
In case the amazon link doesn't work, here's a link to the manufacturer:
https://www.tightfittools.net/kits.htmlThe threaded bits can be purchased at a lot of places, including Aircraft Spruce and Pan American Tools.