Based on these symptoms I figured that the shifter cable bushing had failed and the selector and transmission shift cable were no longer connected. That was a correct assumption and I was able to fix the car by replacing the bushing; it took me about an hour start to finish. Here are the videos and resources I used that were most helpful:
Part number for the bushing is in this video about the Corolla: https://www.youtube.com/watch?v=EF6zX6ApZ40&t=129s
Part number is 33835-08010. I ordered one off of Amazon and it worked great!
Amazon Link: https://www.amazon.com/dp/B07RX21SMW
Here is a video that outlines how to take the center of the dashboard apart. This shows you how to replace the gear selector light, but the cable and bushing are located down and to the left of the gear selector. You'll have access to them if you disassemble it this exact way:
https://www.youtube.com/watch?v=44UV_UF-_Wk
I went ahead and made a short video that shows exactly where the cable and bushing are since I could never find one for the Vibe / Matrix, only the Corolla: https://www.youtube.com/shorts/Fy5wyVbITCs
Also, here are some pictures of where the repair needs to happen, along with the bushing having been replaced:
This is the location of the linkage (did the fix in a lower level of a parking garage so it's a little dark! Sorry!
And here is the gear selector stud seated back inside the bushing at the end of the cable:
Worth noting that I didn't see a spot for a retaining clip on the stud. It may have been a bad angle and low light, but I didn't see a spot for a clip to go. Not sure that a kit with a clip in it from Amazon would have made a difference. I hope this helps someone else with the same issue!
