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I sure can help. The bolts you found are T30 screws with torx heads and they hold the shift linkage bracket to the shift tube which runs along the top of the steering column. You can lay upside in the floor and work on this. You just need to work out the broken screw and reinstall 2 new ones, then resinstall the shifter paw with the roll pin. If needed you may need to remove the lower shroud under the steering column and then disconnect the shift indicator wire from the dash and remove the steering column nuts/bolts and lower the steering column.
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