Ah yes, it's a problem spawned by ICs etc becoming smaller and smaller, and more tightly packed. There's been many times that
I've slipped on a tiny / awkward pin, and there really is NO perfect solution (after the fact). But -
IF you can have input to the design layout, make sure pins that you "may" need to probe are tied to components or free pads.
Sometimes I'll place a 2mm DIL strip 1-2 row, just to have a bulk access point. IF it's not your PCB, then either solder fine wire
"tags" or use a tiny, very sharp pin, wired to your probe (if it's not a HF point). Don't worry, HEAPS of techs have this problem :-)