Can you not plug the flat with one of these? Does the foam prevent it from working?
https://www.amazon.com/ITW-GLOBAL-BRANDS-1034-HANDLE/dp/B00P...
https://www.amazon.com/ITW-GLOBAL-BRANDS-1034-HANDLE/dp/B00P...
And the few times I've aided others with installing a plug, attempting it without removing the wheel first just made it more difficult, sweaty and dirty, than had we just taken the wheel off for better access.
Sometimes you do get lucky on the fronts though, if the puncture is near the outside edge. Especially if your vehicle has a lot of caster presenting more of the wear surface at full lock.
But either way, we're deep in the realm of "sounds too much like manual labor to me" for someone drawing the line at attaching a can of green slime to the valve stem and pressing down the button. Wheel on or off, it ain't happening.