If there is enough room behind the panel when reinstalled, I'd add like 1-2 feet to each wire so that you have plenty of slack to work with. So first solder or crimp a 1-2 foot extension to each wire coming out of the firewall, and then solder/crimp the extensions to the panel. Or vice versa. Life will be a lot easier if you're not fighting to pull the severed wires back together directly.
Sure soldering would be better, but if you are not confident in your soldering tools/skills, then I'd say crimp connectors would be better. In some cases, you don't have a choice and crimp connectors have to do. I have repaired a few boat wiring issues at sea, and crimp connectors are the the norm. You can pack them with silicone grease if corrosion is a concern.
Finally, sometimes the wire-nut style crimp connectors are easier to work with and tuck back in, compared to butt splices. Butt splices create a rigid flat spot at the crimp, which can be a PITA in some cases, especially if wire length is limited. They can also pose a challenge for tying off. The nut style crimps (which look sort of like wire nuts but get crimped) leave you with connections that are easier to tuck in and zip-tie.