Rope + bucket = lifted liquid
This method has been used literally for millennia. There’s no reason it wouldn’t work here.
It would have some waste (opening the top to get the bucket in and out would let vapor escape, and more gasoline would evaporate to replace the escaped vapor), and it would be slow, but it would work just fine.
(For the record, “buckets” can be made of soft materials, such as hide, and still be usable, so the size of the hole is not a real impediment, unless it’s just silly small.)