Used properly, the head cleaners are fine.. Any cleaning they cannot sort.. get professional help..
In a way the difficult access is good as recording heads are very easy to damage .. and cost a bit to replace
It is relatively easy to put some cleaning fluid ( eg alcohol ) on a cotton wool bud , place it on one part of the "drum", then rotate the drum with another bud..(no fingers

)..
The limitation of this is that any dirt/dust you are trying to clean may be somewhere else in the mechanism.
Also, even if you do it properly, some solvents can leave a residue which will end up doing more hare than good
Apologies if you already know all this

HTH
BTW I have a VX 2100 too and clean it mainly with head cleaners...sparingly, as well as use a small micro vacuum cleaner to remove dust. or blower to disperse it. works OK..but
I wouldn't hesitate to get it professionally cleaned if I felt It wasn't working