How to programm AVR ATmega48 in TQFP32 soldered onboard?
Micro grabber clips have come in handy for me a few times.  Attaching them will be slower than using a fixture, but certainly easier than unsoldering parts. They're fragile so you might want to buy a few extra.

Here's one source: https://www.newark.com/pomona/72902-2/test-clip-1position/dp/74K0031