First, take a look underneath to see if there is any obvious damage... could be you snapped a mount or two and the drivetrain is leaning to one side (holding the shifter in one place).
Otherwise...
Remove the lever and look down inside. The shifter forks are supposed to line up when it is in neutral, so use a long handled screwdriver and position them as such. Then put the lever back into place. This is a common problem on the Samurai when the shifter sheet (bushing) wears out.
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