Set up an axle stand one side of the manhole. Trolley jack the other side. Piece of something strong to span the gap while taking the weight of the cover, attach manhole cover to the spanning rod/plank etc with a tow rope or similar. Pump the jack up and, when the manhole cover is clear of the ground, wheel the trolley jack round taking manhole cover with it.
Am I close? It's certainly something I could do with my garage contents.
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