Big Basin Stuck

I am obviously a little further along than in the above picture.

I have never knitted a pair of toe up socks on 2 circulars before, and now I am STUCK. I finished turning the heel and am supposed to be picking gusset stitches up from the instep needle onto the sole needle. However, I can only seem to get one side, since the configuration of needles doesn’t let me get at the stitches from the other side. I’m not sure what to do, short of pulling the socks off the needles onto stitch holders and then getting them put onto the needles the right way.

Any suggestions?