One common practice is to use subD pins/sockets, but without the shell. Just heatshrink over each joint.
FWIW, I'd solder & heat shrink a 22 gauge wire to each 26 ga pigtail, & make whatever runs/joints/etc you need to make using 22 ga aircraft wire. Not for current capacity, but because the 22 ga wire is more physically robust.
Pick your swappable location so there's easy access. Same applies to the joints at the servo itself; they do go bad from time to time.
Charlie