I like to work Mary’s sails from the cockpit. I do get bruises on my rib-cage and at 6ft I can generally reach, if I stand in the companionway. The greatest danger is a gybe while surfing downwind. But boom reefing when hove to is reasonably comfortable. But I am not sure I would like to do that in a severe blow or sea state.
A previous owner had reinforced the lowest companion way hatch so it could be used as a step. I am not sure of it was ever used.