You would need to screw the plywood into the roof so it doesn't shift around and damage stuff during the whole process, nobody is gonna wanna do that. Boom lifts are ocassionally used for extremely tall properties but they add to the price. You're forgetting the biggest issue though, liability. My company stopped doing fumigations cause of the liability involved. Getting the plywood on the roof is gonna take a lot of effort and more than just a boom lift, you're gonna need huge slabs of it to properly cover panels, I don't know if you've seen them but they're not small. They usually cover significant portions of the roof.

At that point it would just be cheaper to pay a company to remove them and reinstall vs all that other effort.

If there was a better way the companies would do it to make money. There just isn't unless the owner is willing to shell out and many aren't, even the rich ones and we work with A LOT of rich people. They own million dollar homes and have multiple homes all over the area.