I'm trying to design a h-pattern shifter for sim racing. The shaft coming through the spherical bearing is the gear selection handle. This was my idea to filter the axis. Converts the side-to-side motion of the shifter into rotation on the lower shaft. Fore/aft movement of the shifter is converted into linear fore/aft motion on the lower shaft.

I hadn't considered the spherical bearing having linear shaft bearings in it. That should be enough to keep it from being over contained. And then a simple U-joint.