You can shift without the clutch if you match revs. Basically you
modulate the accelerator until the car is neither accelerating nor
decelerating so there is no load on the transmission. With a gentle
pressure on the shifter, it should come out of gear. If it does, you
have a clutch issue. If it still does not come out of gear, you
probably have a linkage issue.

I doubt it's the clutch, or you'd see this in all gears. I'd exhaust
all other possibilities before blaming the clutch.

I also would steer clear of any dealerships. For a car out of
warranty, you'll save a bundle by using an independent mechanic.