After comparing the outlines, I found that the proposed approach overlaps the door handle even though the workpiece itself clears. That explains the misleadingly comfortable result in my initial sketch.

Start from those measurements and review approach and withdrawal offline with the full tool, cables and maintenance access included. A revised mount then needs the integrator's assessment

@ReeceBarnes0558 The buyer has suggested choosing a larger arm. I'm unsure whether that would address the access issue or simply increase our purchase while leaving the obstruction unresolved.

A larger arm should give you more mounting freedom, so that could be the easiest route to investigate

Bigger could bring another obstruction. Extra reach won't shrink the gripper past that handle