Sorry to read this. Hard on children to see, especially a beloved pet.
Been there. We even had UC Davis repro team out and did a fetotomy on one foal, but the body couldn't be passed and the mare was crashing. Now, anything I can't 're-arrange' internally at foaling, I take them to Davis ASAP.
I've had mares hoisted up (as you've described) and the repro team shoulder deep rearranging foals, catching it early and treating the mare after saves their fertility and often life. We had to C-section a mare that the foal's internal everything was on the outside of the foal. That was awful.
I noticed you're in Auburn, I don't know if you do/don't like Loomis Basin, but they're experienced with Minis, and can C-section mares as needed (future reference).
My best to your family for everything else to go smoothly.