Well I managed to sort the problem -

Jeroen
I first removed the fan to avoid any expensive radiator issues.
I then disconnected the prop centre bearing bracket (the exhaust held the prop up).
Next, I supported the gearbox on a scissor jack (more controllable than a trolley jack) & undid the gearbox crossmember.
I lowered the gearbox as far as it would go. There was now enough room to get the roll pin into the bottom hole of the knuckle. I had previously got a new pin into the top hole in the knuckle but there wasn't enough clearance to get it fully inserted. However, this held the knuckle in place while I tapped the new one in from below.
It's probably worth sharing some knowledge I gained doing the job.
The diagram below shows the linkage.
Unless the knuckle (16) is worn or damaged you won't need to replace it. Part 14 (originally rubber, now 'plastic' [p/n 25.11.1.434.194]) deteriorates with age & oil - mine had crumbled completely. If you get a new knuckle there's one pre-fitted but you can buy them separately. They are like very firm headphone foam ear buds. They are surprisingly awkward to compress when re-fitting the knuckle. Incidently, new knuckles have a superior wire retaining ring rather than the awkward band (13) on the originals. Before you refit the knuckle, inspect the shaft it fits on. There's an oil seal on the shaft which leaks (probably why the bush disintegrates). The workshop manual says to just pick it out & install a new one. Good luck with that.
The 'Straight Selector Rod' linkage can corrode on the pins through the bottom of the gear lever (lots of swearing to remove). New ones come with 'lift tab' clips instead of circlips. When I got the plastic washers to go either side of the gear lever knuckle I found they didn't fill the space sufficiently (unless I put a dozen on!) so I spaced them out with some thick washers either side of the gear lever knuckle & the gearbox knuckle.
The Z3 gear lever does not fit through the E21 cups - the knuckle is too wide to pass through the bottom cup and the shaft is too thick for the top cup to pass over. Don't worry - with a new bush in the knuckle it will feel like a short shift.
When it's all done it will feel like a new car
