You may be able to stick your fingers under the edges of the shifter console where it meets the carpet and pull the side out slightly. I was able to retrieve one bulb that way.
The bulbs can be purchased from Toyota, P/N 90072-02005 (cheaper option) or GM P/N 88970578 (very expensive.) The local Toyota dealer had to order them. The base looked slightly different and at first I thought they wouldn't twist into place correctly but I later found I just wasn't being forceful enough with them.
If you go the LED route, a Neowedge 4mm style should go in there. I did try to install some from Super Bright LED's (
link) Unfortunately though I bought extras I still managed to lose all but one into abyss. Having to take the bulb out and reinstall so the polarity was correct gave me more opportunities to lose 'em.
Whichever bulb you go with, definitely buy plenty of spares.
Good luck!