Got it fixed today with minimal cussing.
So I ordered the bushings and clips but found that the clips are not used on this car (As Mike Hughes pointed out above). The shifter end bushing had split apart and the rod just fell off. Getting the rod out was pretty easy, I just rotated/pulled the rod away from the (more accessible) transmission end and it rotated off.
Cleaned up the rod and installed the bushings using a fairly long M6 bolt, some fender washers and a shallow 17mm socket (there is a pic or video on this somewhere that I found). Piece of cake, until I realized that I installed one backwards. Was able to push it back out in the vice with another small socket. It became clear that this car did not use the clips. One side of the bushing has a much larger hole than the other side, and it started to look like the arm would be pushed over the pivot balls on the smaller side of the bushing but I wasn't sure. Test fitting the bushing on the larger side it was clear that this thing would just fall off instantly if I went that way. Luckily, I was able to call my vintage Benz mechanic who rebuilt the engine in this car years ago, and he confirmed that the bushing goes on the ball small side facing with some force.
After prying what was left of the old shifter end bushing with a sharpened screwdriver, I opened up the small side holes in the new bushings just a tad with a drill bit. Greased everything up well and slid under the car with a modest sized crowbar.
Much to my astonishment, I was able to pry each end over the pivot balls. On the front end, I could pry against the transmission rear mounting plate and pop it on. The shifter end was much more difficult working through the tunnel access hole, but I was able to pry against the driveshaft there and lo and behold, after (some cussing) it popped on.