The linkage is not so easy to work on due to it being up there behind the skid plate but let me be the first to warn you about removing the skid. Some unsuspecting new TJ owners have unbolted that skid without realizing that is is also the cross member that supports the transmission and transfer case, if you do that the transmission will drop and you can damage motor mounts, bend the exhaust and damage the radiator fan and shroud. To remove that skid you have to support the transmission, remove the transmission mount bolts then remove the six skid bolts.
You can still access the linkage with the skid in place but I wanted to let you know about it anyway in case you decide to remove it someday.