Chris, I think you figured out to stay out of the trench. If you have to make a tie in at one end, then have the hoe dig you a big enough man hole that cave in won't be a problem. The hoe operator will know the ropes. Your soil in MO probably isn't a problem but you didn't say specifically what you have. I've been in plenty of 3' ditches but I wouldn't go near much more than that but there is no reason to anyway. If this is like a drain away from the house or somewhere, then you will have a pipe and elbow so you never touch the ditch.
Make up connections on the ground and lay in trench later. Anything bigger than 1" pvc requires 2 people and if you are doing a long run of 4" to 6" then 3 people. I had to redo some 2" I glued. 20' joints laying on the ground and I pick up the middle to clean, glue, and push together and one person can't pull the pipe in tight due to the weight of the pipe and not being straight. So one guy has to hold one end and help push it. If you are using that black drainage pipe from TSC then it is easy to work with and do the connections up above.
I have done and seen lots of 2" to 6" pvc laid down in clay without any sand or anything underneath it. We have a hoe operator that will dig a sewage pit for $500 and lay the drainage line for a dollar a foot. He works by him self and no one lays sand or gravel in the hole. But then we don't really have the rocks that could break the pipe with ground heave. Wouldn't hurt if you got rocky soil but your hoe operator will know unless you rent, then the rental place will know.
I guess you know and your hoe operator will know if it is too muddy to dig. If the top of the ground is dry, you are ok.
Good luck. I'd come over and help but I can't find a shovel that fits my hands anymore. A real bummer.
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