I used to have a 69 Roadrunner hemi with power disc brakes.
I could get the plug out , it just took some ingenuity and flex extensions.
Getting the booster off was a different story though. And that required booster R+R
I do move the booster aside when changing the spark plug tubes, but that isn’t very often. As gtx6790 said with the right extensions as per my pic and a bit of patience you can change the #7 plug with the booster in place, I do it all the time.
Here is another pic, a slightly different master mounted in this pic as I was messing around with braking response with 1 1/8 versus 1 1/32 bore masters. A recent pic