When I did work inside the underbelly, replaced the insulation with pink fiberglass.
The belly panels come open at the edges and I just make access openings where needed like a drop down door of sorts that stays attached at inside edge. I use strips of thin plywood to place on the seems and then screw along both seems. Using metal self drilling screw then along frame edge along with the U trip thats already there. Seal seems with sealant.
Never an issue. Works fine for me.
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