Its a 194 in my solara, which shares parts with the gen 4 camry. This is how I did it...
Pull up the black surround that covers the shifter, there are 4 clips. Unplug the accessory outlet to completely remove the surround. Then unscrew the silver philips head screw at the top left corner of the shift gate. Now this gets a little tricky, you have to pop out two tough clips at each corner of the near part of the shift gate (the part facing your e-brake and center console storage etc.) I used a flathead screwdriver to get the leverage to pop the shift gate up. Once this is up you will see a wire going to a bulb socket on the bottom of the shifter. Twist this socket out and there is your bulb.
- Paul