There is a rubber plug, that is on the passenger side of the "cup" that the shifter sits in. It's a LOT easier to get to, with the whole thing out of the car. Can it be done? Probably. Do you not have a floor jack or a pair of ramps? If you have a decent curb at your house, and feel safe, you might get enough clearance parking with the right front tire on the curb. And you absolutely want to replace the bushings while you have the shifter apart! They are why shifters feel "sloppy"...
And, don't forget to mark your shift rod/bolt location under the car, to make it easier to line everything back up.
The shifter doesn't feel sloppy. I just wanted to change the shifter lever and handle as it's scratched and pitted.
Unfort, no floor jack or ramps.
I realize it's a different car, but when I changed my shifter in my 89 stang to a hurst lever it was all done within the car.
You have to access the underside of the shifter to get to the plugged access hole - you might be able to lift it into the car to get to the hole but that is going to be a challange.
As others have said it really needs to come out
You may have better luck removing the rod off the trans as it is just pinned on there - but the exhaust is usually in the way - you can slide the shifter and rod out together.
It would probably be well worth it to pick up a cheap floor jack and jack stands - would be much easier and safe too.