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That's the part I used when I put the heel/toe on my Sport Glide along with the floorboards. I have nerve damage in my left foot and it was a necessity if I wanted to shift. Been on Touring bikes for decades, had to downsize for other medical reasons.
You do NOT need to remove anything but the stock shifter to swap the shaft.
I found that you could remove the standard shaft but could not fit the longer replacement shaft without removing the floor board mount which has the gear shaft bracket fitted to it, there's just not enough room!
The foot board is only two torx screws!