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There's a rubber dome (the nipple we speak of) that you can cut into if you can reach it.  If that doesn't work, try pulling the bottom of the grommet out (you don't need to pull the entire grommet out, but no harm if you do).  That should provide enough of an opening to push your wire thru, then push/work the grommet back into place.

Again, the driver's side grommet is accessible on the cabin side behind the Parking Brake and is easier to work with overall.