You could try lubricating the lever ball support by pulling up the gaiter and rubber boot. The access to the rest of the linkage is from below, after removing a reinforcing plate and heat shield. You normally need to drop the exhaust for access, but you might be able to squirt some lube up in there without doing so. But if you get that far, it may be worth getting proper access and identifying the actual culprit and replacing it. There's a number of joints and supports that could be the cause.
Doesn't sound serious, but can be quite annoying.