Extending the shift lever won't change anything beyond making the lever taller. You need to raise the transmission, lower the body, bend the shift lever or move the center console.
As others have said, no extender that I know of and no, the 02 won't fit as the upper and lower attach completely differently.
The TJ started with a Toyota transmission, then went to a domestic that oddly enough matched the Toyota in a lot of ways dimensionally, and then got a Mercedes box (the 6 speed) shoved down the Jeep engineers throats that other than overall length and the spline and bellhousing bolt pattern was completely different.
Mine made contact with the shift boot bezel even without any transfer case drop, just a stock skid. I ran with the shift boot bezel hanging loose until i installed a UCF extra clearance t-case skid (not the ultra) to raise the drivetrain a couple inches and get the shifter close to where it started in relation to the body.
Your body mounts are stock, the transfer case skidplate has been dropped 1". The t-case was dropped 1" due to a suspension lift, otherwise you'd have vibrations from your steep rear driveshaft u-joint angles. You could get rid of the t-case drop which would fix your shifting issues by either installing 1" taller motor mounts, commonly called a motor mount lift, or by installed a SYE kit into the transfer case and replacing your rear driveshaft with an aftermarket DC driveshaft. This latter option is far more expensive than a pair of 1" taller motor mounts.
Personally I'd go with getting rid of the 1" t-case drop and installing 1" taller motor mounts. This is a less costly way of fixing the shifter issue which also gives you increased ground clearance by getting rid of the t-case drop.
Installing new motor mounts is no big deal, I did it by myself years ago with basic hand tools. If you decide to do this, make sure the new 1" taller (aka motor mount lift) motor mounts have rubber bushings, not polyurethane. This is what I installed onto my previous TJ, they are extremely high quality and have rubber bushings so they won't cause any vibrations.
1" taller motor mounts also require the fan shroud be raised 1" but that's an easy job requiring nothing but drilling new 1" lower mounting bolt holes into the shroud.