I see you can still SSH into those APs. If the setup is non-functional anyway and the only option at this moment is to go onsite to factory reset the APs, what you could try is to change the AP swarm-mode to standalone (CLI command: swarm-mode standalone), which fully disables the clustering. After that, you can try to upgrade the AP remotely and if it is on the right firmware put it back to cluster (swarm-mode cluster).
If the AP is remotely connected over a mesh, it may be tricky as the mesh-keys may get lost in the process in which case you don't have access at all. So that is the reason why you should only do this if there is no alternative and the setup can't be more broken than it is now.