In the transmission section of the manual it mentions a park/neutral switch connector for the 6MT for vehicles with and without S-mode so that might be something you can tap into. See page TM-44 for the exploded view (item 6).
In the BCM section of the manual it is referred to as the "SFT PN/N SW". It appears to connect to pin 140 and is at 12V (battery voltage) when in neutral and 0V when in gear. See BCS-68.
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