This guy's camera work is terrible and he leaves out the part of accessing the screw on the left side, but I haven't found a better video. (Video is for removal of the head unit, but it should start at the part for removing the knee panel trim.)
To get to the screw on the left side, with the door open, pop the triangular panel off the side of the dashboard, where it meets the door. One screw is under there.

 

The big panel under the steering wheel on my 2017 is an airbag. The panel to the left of the airbag is easy to remove and opens up some under dash access, while removing the small panel to the right usually only needs to be done if you are trying to dismantle the radio.

Like Outback Jon said for the left panel, one screw under the triangular panel and another at the bottom of the panel.

 

@CO17Forester The airbag is actually behind that plastic panel, mounted to a metal bracket. Other than the single screw under the triangular panel, the only thing holding that panel in is some plastic clips.

At least on my 2017, it's one panel from the screw under the triangular cover, all the way over to the tiny panel that you are talking about on the right.

 

I just left it alone, does removing the panel give access to anything other than the airbag?
I have taken the other 2 panels off.

And you are right the 2nd screw I was thinking about is on the right panel, I usually take the right panel off, when I don't need to remove it. That center panel still looks like an airbag.

 

Thanks so much to all replies.
Worried about the airbag.
I’ll make sure to disconnect the battery.