Yep you're not likely looking at anything more than a simple adjustment and tightening of a bolt. There's a bolt with a 1/2" head that holds a rod in adjustment that is part of the shift linkage. They can loosen over time and then the rod will slip out of adjustment.
Get a helper to move the shifter while you watch from underneath to see how it works and you'll then see what is happening. The rod will just have to be slid back into the bracket the bolt holds it in so it is in its original position, then tighten the snot out of the bolt so it won't slip out of adjustment. Odds are good you'll see the original indentation in the rod where the bolt was originally holding it.
You can see the bolt circled in red below with the rod visible below it and where it sticks out the top of the bracket above the red circle...
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