Shifter hard to move, Missing gear

[NewEnglandLexus]

2012 RX350 

Believe my shifter transmission cable has an issue.  Research leads me to believe the bushing is bad or the cable itself is corroded/frayed.  The cable is NOT easy access to replace or even lubricate.  I'm trying to access the bushing under the shifter but I need help.  Anyone done this before?

Is access on the passenger side?  How do I remove the lower panel?  Do I need to remove the glove box?

Attached pictures show where I'm at and how I got there.

[NewEnglandLexus]

Not getting any feedback, I searched for issues with the Highlander.  Found several folks complaining about rust formation where the cable meets the lever at the transaxle.  Lo and behold, the lever was very rusty.  I hit it with PB blaster, then chain lube and its working better.  Attached are pictures for the location - helps to raise the car, but you can see it from the ground.

My process:  Day 1 - PB Blaster, then 8 hours later WD-40;  Day 2 - same as day 1;  Day 3 - chain lube and moved the shifter through all its range (moving better)

Plan: repeat this in one week, then perhaps every 6 months when I swap snow tires or earlier if it ever gets stiff again.