Wiper motor linkage mounting

My drive link fell off of the motor shaft, apparently, the nut backed off and the linkage dropped.

I can barely see up under the dash and not even going to be able to reach up there. I’m not a contortionist which I think it would take to do it from the dash side.

Is it possible to remove the motor from the firewall and reattach the linkage from there?

Any advice would be greatly appreciated. If anyone knows any other way, PLEASE let me know.