Sorry mate not what you want to hear but you have to start with taking out the carpet unless you are happy with putting a cut in it somewhere.
The rubber boot is sort of stapled to a big metal plate which is bolted to another even bigger metal plate which goes down the side of the tunnel next to the 4wd lever.
So the upper plate has the boots attached, to both gearsticks. they are 10mm heads some are bolts and some are self tappers, the "border" of the plate is about the same width all the way around, but the space between the 2 sticks is filled in with metal.
Now is a good time to pull the whole front carpet out, vacuum out all of the sand and add some extra insulation.
You could try dropping the gearbox crossmember, lowering the gearbox onto an axle stand (not a jack) and try to do it reaching over the top of the gearbox. there are 6 bolts to remove the gear stick, 12mm heads and you should be able to get them off with an upside down gear wrench. They are often stripped for some reason.
It wont be much fun pushing the gearstick up against the boots, and making sure you got all of the bits of the old bush out will be tricky too. You might be able to get away with this but it might take longer than pulling the carpet out too.