When you have lost sysadmin addess, starting SQL Server in single-user mode is a good start. Next step would be to run something like
SQLCMD -S MSSQLServer -Q"ALTER ROLE sysadmin ADD MEMEBER DOMAIN\YourUser"
But since SQL Server is in single-user you have to be careful so that no one else takes that single connection. Set SQL Server Agent to Manual start. Make sure you don't have any Windows open in SSMS. If there is an application server, stop it, etc.