Try getting an endoscope, they aren't too expensive off the net, and use it though the holes in the chassis to assess the situation.
If it is fairly clean, you might be best to just spray inside anyway.
If it is full of mud, put a garden hose through the holes, and leave it running until the water runs clear, then move to another hole, same again.
It may take quite a long time, even days of it full of mud.
Then, leave to dry as best you can. Driving around on a warm sunny day will help, as will leaving it garaged with heaters blowing on the chassis.
When you think it is as clean and dry as you can get it, then spray.
Not perfect, but unless you want to cut out panels, clean and dry, and then re-weld, there isn't much else you can do.