Once that linkage gets messed up fixing it is a real roll of the dice. The bushings get old and stretched. Dealer used to offer a refurbishment kit, but I don't think available any longer. Good time to take a look at the aftermarket options for shift linkage. Best option out there are the cable shifters (I'd buy Savvy). They work great, although are more $$s than some people looking to spend. There are some aftermarket bracket designs though (e.g. Advanced Adapters, Teraflex) that are much cheaper and work fine.

 

Unbolt the shift bracket (14) from the tub, reinsert the end of the transfer case shift bellcrank (17) into its bushing (7) in the bracket, then bolt the bracket back to the tub being careful to not let the bellcrank fall out again. You will most likely want a helper, but it is possible to do this on your own. Alternatively, you can unbolt the skid plate and lower the transfer case sufficient to get the shift bellcrank to line up with the bushing again. The other option would be to try to pop the bellcrank out if its bushing in the transfer case side bracket (16), reinsert it in the tub side bracket bushing, then snap the bellcrank back into the transfer case bracket... good luck with that method if you try.

 

You can get a refurbishment kit from Crown: https://www.amazon.com/gp/product/B008VPW5LS/ref=oh_aui_detailpage_o05_s00?ie=UTF8&psc=1

 

If you're running a body lift and/or a transfer drop, you should (at the least) have a linkage drop bracket like this.
https://www.extremeterrain.com/rugged-ridge-drop-bracket-yj-tj-1830505.html

 

Whether an MML is installed also figures in to needing that bracket. For example, BL + MML often does not require the bracket.