What about a hands-free hydration system like triathletes use? Some of them are frame mounted so you wouldn't need aero bars. You'd still probably have to dip your head and shoulders to drink from a non-aero position, but you wouldn't have to grab a bottle?
ETA - or since you're okay with reaching for the drink tube of your Camelbak, maybe you could put an extra long hose on the bottle in place of the straw, and clip it to your handlebars somehow?