I made a noticeable improvement by changing the bushings out under the hood. Still not all that great and I think the person who had engineered all the past Toyota shift linkages must have retired and the new guy is doing them now...
The ones in my car have a feature that allows them to be softer in one direction, and being round, they rotate favoring the soft positions. I made some metal ones in my garage, but they sell the bushings online, aftermarket solid ones that is. I suppose you could take out the bushings and fill the voids with some epoxy, might be worth a try!
The worst thing that could happen is the epoxy, or rigid caulk may fall out, wouldn’t be much worse off than before.