Lost 5th and Reverse...shifter free floats where 5th and reverse should be

Have a 2000 taco. 2.7 manual 5spd, sr5, trd, 4wd. 216,000 miles. off-roading the other day and got to the top of the mountain, and i went to use reverse, and there was nothing there. 1st-4th function normally, but when i go to find reverse or 5th it just feels like its free floating. I can hit 4th gear from where reverse normally is, and can hit 3rd where 5th normally is. Any ideas for whats going on? Im thinking that the pins that hold 5th and reverse have fallen off, but im not sure. Any suggestions or ideas on how to reach the shift plate without having to drop the tranny..ive pulled as much as i can from the inside to reach the tranny with out having to actually open it up