Just dealt with this exact issue. 2 roofers could not find the source of the leak outside and claimed the panels needed to be removed. In truth it was just the skirt covering a bracket that needed to be removed. Can you try having someone lift it off (like removing trim) to look? Did you identify the precise spot of the leak yet,
If you do need to move the panels, you might not need to take them off. Just loosen the clamp on top that connects one panel to the next and you will be able to slide it over. It's not too hard to slide over one panel at a time and rdpair underneath as needed, especially for the bottom of the array.
Repairing from inside is probably not going to work, but if you're not successful in getting to the leak from above then I can understand why you'd try. The only way I could see the working is if you cut a hole in the roof deck big enough to place a proper shingle patch through, then tar under it, etc. No handyman would do it for you