It could either be the shifter tube itself[the white metal bar the shift handle attaches to] or more likely be the plate at the end of the tube that attaches to the linkage. This is held to the tube by two torx screws' if they are at all loose this will cause your shifter to feel loose and sloppy as well as making it difficult to get into park or reverse. The connection is located above and in front of the brake pedal' a pain to get to but a lot cheaper than a mechanic.
