All joints must be welded 360 degrees. You will fail tech with SCCA and NASA. Beg, borrow, or pay for a MIG welder and use a Tweco #3 gun with a flexible swan neck and .023 wire. You can get to those spots with that gun.
In the future, make sure all of your required tubes are completely welded before adding any optional tubes. The main hoop rear brace that is not completely welded is a required tube and is more important then the horizontal brace that attaches to it. Design your welded joints with complete 360 degree welding in mind.
Go to the FB BetaMotorsports page and look at how I did the recent M3 cage. I had to allow room between the cage elements to get that 360 degree weld and I had to hole saw the floor and drop the cage after tacking to get complete welds over the top.
Again, if you had welded the required tube first then you could have positioned the optional horizontal brace at the mounting plate or far enough above to allow complete welding of its junction with the required tube.