I have a Pilgrim radio that I have been working on and needed to access one of the three lamps. The two on the sides of the dial are readily removable/installable by hand. The third one is buried in a tight spot on the chassis that cannot be reached by hand. The slot you can see in the chassis is less than an inch wide and access from the sides is even more restricted so I needed a tool to reach the lamp for removal and installation.
I dug around my “stuff” and came up with a solution. I took a 7/16” Nut Driver and a long rubber boot/foot (7/8” long) formed to fit onto a 5/16” leg. I carved the exterior of rubber foot just enough to fit into the nut driver tightly. It turned out to be a perfect size to push over the #47 lamp (Type 31/4) and allowed pushing the lamp in to rotate for removal. After testing, I was able to stick the lamp back onto the rubber boot to re-install the lamp in the socket. It worked very well so I will now glue the rubber foot into the Nut Driver permanently. Now when I have a lamp in any tight space, I will be able to pull/install lamps without barking my knuckles.

That's great work. I have a few broken nut drivers at work. Will bring one home and follow your lead. But I may have to make a new tool drawer to hold all these special tools. LOL