Thanks for the great question.
I have attached a part break down of the steering column. Can you point out what part you are seeing that might be broken or loose and let me know.
Did you see any small bolts laying around or under the floor mat?
Ok, take a flash light and get under the column where you can see where the shifter cable is at and where it attaches to the shifter column. Most cases, this is where the cable becomes detached from the column. There are usually 2 small bolts that can sometimes come out enough not to shift the cable. I have another picture below of this area. If this is the area you find the issue, you do not need to remove the column to repair. Put blue locktite on the bolts and re tighten and should be good to go.
If that all looks good under there at that spot, then most likely you will need to remove the entire column and before you do that, disable the air bag system. But lets make sure that the area around the shifter cable is good first.