I'm assuming the AW71? from the 940 will be lighter and smaller than the AW30-40 from a V90 so it may not be as bad as you think.

I put pieces of 2x10's under my jack stands to gain as much height as possible. I use a Harbor Freight transmission jack.

I put the jack and the transmission under the car separately, then I wrestle the transmission onto the jack and strap it on.

While the wrestling match is less than a perfect solution there is room for the transmission on the jack once it is more or less in position under the tunnel.

I use a piece of large pvc pipe with a section cut out to help get the new rear main seal in. By removing a section and then using zip ties to pull it back together it reduces the diameter enough to sit properly on the face of the seal and clear the carrier.

Randy

FAQ entry on AW-7x with transmission removal / replacement ...

https://www.brickboard.com/FAQ/700-900/TransmissionAuto.htm

And replace the rear main carrier plate gasket. Use a Volvo gasket and no need for RTV lest the surfaces be nicked or damaged otherwise. Though other sealant methods exist ... You don't need to drop the pan, either, unless you need to treat it.

The front and rear seal carrier plate gaskets are longer and you trim them to set flush with the oil pan gasket. No need for RTV lest you nicked mating surface, though many better sealing products with or without gasket. Permatex RTV grey does well with a too short of a working time. Use solvent free stuff like brake parts cleaner to degrease.

Haynes has a 940 service manual. I've seen the Volvo green 940 service manuals for different years through search. Use bing also.



https://www.fcpeuro.com/products/volvo-repair-manual-940-3249
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I have pulled about 6 940 AW-71L transmissions by jacking the car up slowly with a floor jack and putting flat 2 rims with tires under each wheel one at a time. For the second rim, I had to use a chunk of 6X6 between the jack and the car's jack point (where the emergency jack fits into) to get the car high enough. I have a Harbor Freight transmission jack and the transmission clears the bottom of the car by an inch or two with the transmission lowered on the jack. I use the floor jack to hold up the rear of the engine during the procedure.

Not a terrible job. Don't use anything but Volvo rear main seal and Volvo front transmission seal or you may get to do the job again on the same car. Especially, don't use those cheap silicone seals.
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Mine:4-940s running, 1-740, 2-940 parts, dtrs:3-940s running