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While the article (archived) on changing these plugs is pertinent, there are 2 things to keep in mind. First, with the tranny in 1st, when you pull the shifter out per the procedure, the detent closes and you will not just slip the shifter back into place. After you pull the cover as described, you have to knock the forks back into neutral, install the plate with the 3 torx screws, then shift into 1st and re-install the cover to the tranny.
An easier way to remove the shifter is to loosen the 17mm nut from the side of the shaft, swap it over to the other side of the stud and tighten. Doing so will pull the tapered stud right out of the shift shaft.
The second point I wanted to make is if the shifter stub shaft is removed from the cover, check the components that live there. There should be:
wavy washer with tips up
flat washer
plastic ball cup
2 pressed in pins
shift stub shaft
plastic ball cup
flat washer
wavy washer with tips down
top plate with torx screws
That is the exact order.
If this doesn't make sense to you ask, and I'll try to help.