Better planning next time? Don't set something up you can't reach everywhere. You can cut your scrog or find a way to crawl in there, lol. Looks like a 3x3? that tent should open up on 3 sides.. should be able to get in there one way or another.
Also, You can easily avoid the need to defoliate. That is some bro science stuff unless it's congested and creating a pathogen risk, in which case it may be necessary for a specific context, but that can be avoided by not over-crowding the canopy in the first place (goes back to planning ahead). You'll find that fewer colas per sq ft (aerial density) will result in the same yield as long as there are 'enough' colas. Yield is more strongly correlated to leaf surface area and DLI. 2-4 cols/sq ft is all you need to maximize a yield. More only creates unproductive work and effort. if it's a pheno with smaller bud sizes, then ~4 is a better target. I did 2 colas per sq ft last year, but i want slightly smaller buds than what i got last year to better avoid pathogen risks, so i'm trying ~3/sq ft this year (closer to 2.7), while still remaining easy to trim and not over-crowding canopy. I think ~3 will be the happy zone for me, but your mileage may vary. Local variables have their say.
Save the hassle of a need to defoliate altogether. I sometimes remove some leaves at bottom to avoid trapping excess moisture from medium, but taking off a shit-ton of leaves is never a good idea and any need to do so can be completely avoided.
A ton of benefits come from not over-crowding a canopy, and you still maintain potential yield. Save yourself hours of time and hassle dealing with overgrowth. Makes training decisions for you too... there's and end goal to target and therefore you can make an effective plant to maximize avoiding pruning off wasted growth -- useless growth = wasted time and money. Some useless growth is unavoidable but minimizing it is a benefit.