Skip the shop and save $1000. Probably the plastic "shift bushings" have fallen apart. Search that here. Many posts. You get at them underneath, one at each end of the horizontal "shift rod". Fun part is there is little room to work and it is probably very grubby. I recall the youtube video (Ken of Mercedes Source) shows a 1986+ 300D and he had to drop the engine slightly to get room or at least to see w/ the camera. I bought the special pliers, then found I needed to add a washer on the rear of it.

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1984 & 1985 CA 300D's
1964 & 65 Mopar's - Valiant, Dart, Newport
1996 & 2002 Chrysler minivans